def test_future_version_works(self):
fn = '/tmp/test_future_version_2.1.bag'
with rosbag.Bag(fn, 'w', chunk_threshold=256) as b:
for i in range(10):
msg = Int32()
msg.data = i
b.write('/int', msg)
header = {
'op': bag._pack_uint8(max(bag._OP_CODES.iterkeys()) + 1)
}
data = 'ABCDEFGHI123456789'
bag._write_record(b._file, header, data)
b._file.seek(0)
b._file.write(
'#ROSBAG V%d.%d\n' %
(b._version / 100,
(b._version % 100) + 1)) # increment the minor version
b._file.seek(0, os.SEEK_END)
with rosbag.Bag(fn) as b:
for topic, msg, t in b:
pass
def test_reindex_works(self):
fn = '/tmp/test_reindex_works.bag'
chunk_threshold = 1024
with rosbag.Bag(fn, 'w', chunk_threshold=chunk_threshold) as b:
for i in range(100):
for j in range(5):
msg = Int32()
msg.data = i
b.write('/topic%d' % j, msg)
file_header_pos = b._file_header_pos
start_index = 4117 + chunk_threshold * 2 + int(chunk_threshold / 2)
trunc_filename = '%s.trunc%s' % os.path.splitext(fn)
reindex_filename = '%s.reindex%s' % os.path.splitext(fn)
for trunc_index in range(start_index, start_index + chunk_threshold):
shutil.copy(fn, trunc_filename)
with open(trunc_filename, 'r+b') as f:
f.seek(file_header_pos)
header = {
'op': bag._pack_uint8(bag._OP_FILE_HEADER),
'index_pos': bag._pack_uint64(0),
'conn_count': bag._pack_uint32(0),
'chunk_count': bag._pack_uint32(0)
}
bag._write_record(f,
header,
padded_size=bag._FILE_HEADER_LENGTH)
f.truncate(trunc_index)
shutil.copy(trunc_filename, reindex_filename)
try:
b = rosbag.Bag(reindex_filename, 'a', allow_unindexed=True)
except Exception as ex:
pass
for done in b.reindex():
pass
b.close()
msgs = list(rosbag.Bag(reindex_filename, 'r'))
def test_reindex_works(self):
fn = '/tmp/test_reindex_works.bag'
chunk_threshold = 1024
with rosbag.Bag(fn, 'w', chunk_threshold=chunk_threshold) as b:
for i in range(100):
for j in range(5):
msg = Int32()
msg.data = i
b.write('/topic%d' % j, msg)
file_header_pos = b._file_header_pos
start_index = 4117 + chunk_threshold * 2 + int(chunk_threshold / 2)
trunc_filename = '%s.trunc%s' % os.path.splitext(fn)
reindex_filename = '%s.reindex%s' % os.path.splitext(fn)
for trunc_index in range(start_index, start_index + chunk_threshold):
shutil.copy(fn, trunc_filename)
with open(trunc_filename, 'r+b') as f:
f.seek(file_header_pos)
header = {
'op': bag._pack_uint8(bag._OP_FILE_HEADER),
'index_pos': bag._pack_uint64(0),
'conn_count': bag._pack_uint32(0),
'chunk_count': bag._pack_uint32(0)
}
bag._write_record(f, header, padded_size=bag._FILE_HEADER_LENGTH)
f.truncate(trunc_index)
shutil.copy(trunc_filename, reindex_filename)
try:
b = rosbag.Bag(reindex_filename, 'a', allow_unindexed=True)
except Exception as ex:
pass
for done in b.reindex():
pass
b.close()
msgs = list(rosbag.Bag(reindex_filename, 'r'))
def test_future_version_works(self):
fn = '/tmp/test_future_version_2.1.bag'
with rosbag.Bag(fn, 'w', chunk_threshold=256) as b:
for i in range(10):
msg = Int32()
msg.data = i
b.write('/int', msg)
header = { 'op': bag._pack_uint8(max(bag._OP_CODES.iterkeys()) + 1) }
data = 'ABCDEFGHI123456789'
bag._write_record(b._file, header, data)
b._file.seek(0)
b._file.write('#ROSBAG V%d.%d\n' % (b._version / 100, (b._version % 100) + 1)) # increment the minor version
b._file.seek(0, os.SEEK_END)
with rosbag.Bag(fn) as b:
for topic, msg, t in b:
pass
