def rename_topic(intopic, inbag, outtopic, outbag):
rebag = rosrecord.Rebagger(outbag)
for (topic, msg, t) in rosrecord.logplayer(inbag, raw=True):
if rospy.is_shutdown():
break
if topic == intopic:
rebag.add(outtopic, msg, t, raw=True)
else:
rebag.add(topic, msg, t, raw=True)
rebag.close()
def generate_data():
bag = rosrecord.Rebagger("test/migrated_explicit_gen2.bag")
m = MigratedExplicit(None, 17, 58.2, "aldfkja", 82)
bag.add("migrated_explicit", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/migrated_implicit_gen2.bag")
m = MigratedImplicit(None, 34, 16.32, "kljene",
MigratedExplicit(None, 17, 58.2, "aldfkja", 82))
bag.add("migrated_implicit", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/migrated_mixed_gen2.bag")
m = MigratedMixed(
None,
MigratedImplicit(None, 34, 16.32, "kljene",
MigratedExplicit(None, 17, 58.2, "aldfkja", 82)))
bag.add("migrated_mixed", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/partially_migrated_gen2.bag")
m = PartiallyMigrated(40, MigratedExplicit(None, 17, 58.2, "aldfkja", 82))
bag.add("partially_migrated", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/renamed_gen2.bag")
m = Renamed2(2.17, [8, 2, 5])
bag.add("renamed", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/convergent_gen2.bag")
m = Convergent(1.2, 3.4, 5.6, 7.8, SimpleMigrated(11), SimpleMigrated(22),
SimpleMigrated(33), SimpleMigrated(44))
bag.add("convergent", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/converged_gen2.bag")
m = Converged([1.2, 3.4, 5.6, 7.8], [
SimpleMigrated(11),
SimpleMigrated(22),
SimpleMigrated(33),
SimpleMigrated(44)
])
bag.add("converged", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/constants_gen2.bag")
m = Constants(Constants.CONSTANT)
bag.add("constants", m, roslib.rostime.Time())
bag.close()
def write_bags_in_ranges(inbags,outdir,ranges):
if not os.path.exists(outdir):
os.mkdir(outdir)
else:
if not os.path.isdir(outdir):
raise MyException("A file blocks the creations of directory "+outdir)
if len(ranges) == 0:
return
dirs = []
idx = 0
for r in ranges:
dirs.append(outdir+"/scene_"+str(idx))
if not os.path.exists(dirs[idx]):
os.mkdir(dirs[idx])
else:
if not os.path.isdir(dirs[idx]):
raise MyException("A file blocks the creations of directory "+outdir)
idx += 1
for inbag in inbags:
i = 0
r = ranges[i]
#if true, reading messages and discarding them until we reach r
#otherwise, emitting messages into rebag
readingToRange = True
for (topic,msg,t) in rosrecord.logplayer(inbag, raw=True):
if readingToRange:
if t >= r[0]:
#open the bag
bagfile = dirs[i]+"/"+inbag.split("/").pop()
rospy.loginfo("Writing "+bagfile)
rebag = rosrecord.Rebagger(bagfile)
readingToRange = False
#note that I don't use else here-- that way we can quite readingToRange on a message and then emit it
if not readingToRange:
if t <= r[1]:
rebag.add(topic,msg,t,raw=True)
else:
i = i+1
if i == len(ranges):
break
r = ranges[i]
readingToRange = True
def setUp(self):
# Make logfile with bogus messages
self.bag = tempfile.NamedTemporaryFile()
rebagger = rosrecord.Rebagger(self.bag.name)
for i in range(0, row_count):
rebagger.add("/diagnostics", make_status_msg(i))
rebagger.close()
# Make CSV
self.exp = LogExporter(None, self.bag.name)
self.exp.process_log()
self.exp.finish_logfile()
self.filename = self.exp.get_filename('Unit Test')
## Make sparse CSV's
self.skip_10 = make_sparse_skip(self.filename, 10)
self.length_10 = make_sparse_length(self.filename, 10)
def do_test(self, name, old_msg, new_msg):
# Name the bags
oldbag = "%s/test/%s_old.bag" % (self.pkg_dir, name)
newbag = "%s/test/%s_new.bag" % (self.pkg_dir, name)
# Create an old message
bag = rosrecord.Rebagger(oldbag)
bag.add("topic", old_msg(), roslib.rostime.Time())
bag.close()
# Check and migrate
res = rosbagmigration.checkbag(oldbag, [])
self.assertTrue(res is None or res == [],
'Bag not ready to be migrated')
res = rosbagmigration.fixbag(oldbag, newbag, [])
self.assertTrue(res, 'Bag not converted successfully')
# Pull the first message out of the bag
msgs = [msg for msg in rosrecord.logplayer(newbag)]
# Reserialize the new message so that floats get screwed up, etc.
m = new_msg()
buff = StringIO()
m.serialize(buff)
m.deserialize(buff.getvalue())
#Compare
# print "old"
# print roslib.message.strify_message(msgs[0][1])
# print "new"
# print roslib.message.strify_message(m)
# Strifying them helps make the comparison easier until I figure out why the equality operator is failing
self.assertTrue(
roslib.message.strify_message(msgs[0][1]) ==
roslib.message.strify_message(m))
# self.assertTrue(msgs[0][1] == m)
#Cleanup
os.remove(oldbag)
os.remove(newbag)
def fix_md5sums(inbags):
for b in inbags:
print "Trying to migrating file: %s" % b
outbag = b + '.tmp'
rebag = rosrecord.Rebagger(outbag)
try:
for i, (topic, msg,
t) in enumerate(rosrecord.logplayer(b, raw=True)):
rebag.add(topic, msg, t, raw=True)
rebag.close()
except rosrecord.ROSRecordException, e:
print " Migration failed: %s" % (e.message)
os.remove(outbag)
continue
oldnamebase = b + '.old'
oldname = oldnamebase
i = 1
while os.path.isfile(oldname):
i = i + 1
oldname = oldnamebase + str(i)
os.rename(b, oldname)
os.rename(outbag, b)
print " Migration successful. Original stored as: %s" % oldname
def sortbags(inbag, outbag):
rebag = rosrecord.Rebagger(outbag)
schedule = []
for i, (topic, msg, t) in enumerate(rosrecord.logplayer(inbag, raw=True)):
if rospy.is_shutdown():
break
schedule.append((t, i))
schedule = [ i for (t,i) in sorted(schedule) ]
print schedule
stage = {}
for i, (topic, msg, t) in enumerate(rosrecord.logplayer(inbag, raw=True)):
if rospy.is_shutdown():
break
stage[i] = (topic, msg, t)
while (schedule != []) and (schedule[0] in stage):
(topic, msg, t) = stage[schedule[0]]
rebag.add(topic, msg, t, raw=True)
del stage[schedule[0]]
schedule = schedule[1:]
assert schedule == []
assert stage == {}
rebag.close()
def fixbags(md5file, inbag, outbag):
d = dict()
finput = fileinput.input(md5file)
for line in finput:
sp = line.split()
d[sp[1]] = [sp[0], sp[2], sp[3]]
rebag = rosrecord.Rebagger(outbag)
for i, (topic, msg, t) in enumerate(rosrecord.logplayer(inbag, raw=True)):
if rospy.is_shutdown():
break
type = msg[0]
bytes = msg[1]
md5 = msg[2]
if md5 in d:
if type != d[md5][0]:
print 'WARNING: found matching md5, but non-matching name'
continue
msg = (d[md5][1], msg[1], d[md5][2])
rebag.add(topic, msg, t, raw=True)
rebag.close()
def generate_data():
bag = rosrecord.Rebagger("test/migrated_explicit_gen3.bag")
m = MigratedExplicit(None, 17, 58.2, "aldfkja", 82)
bag.add("migrated_explicit", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/migrated_implicit_gen3.bag")
m = MigratedImplicit(None, MigratedExplicit(None, 17, 58.2, "aldfkja", 82),
"kljene", 16.32, 34)
bag.add("migrated_implicit", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/migrated_mixed_gen3.bag")
m = MigratedMixed(
None,
MigratedImplicit(None, MigratedExplicit(None, 17, 58.2, "aldfkja", 82),
"kljene", 16.32, 34), 59)
bag.add("migrated_mixed", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/partially_migrated_gen3.bag")
m = PartiallyMigrated(40, MigratedExplicit(None, 17, 58.2, "aldfkja", 82),
"radasdk")
bag.add("partially_migrated", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/renamed_gen3.bag")
m = Renamed3(2.17, [8, 2, 5, 1])
bag.add("renamed", m, roslib.rostime.Time())
bag.close()
bag = rosrecord.Rebagger("test/converged_gen3.bag")
m = Converged([1.2, 3.4, 5.6, 7.8], [
SimpleMigrated(11),
SimpleMigrated(22),
SimpleMigrated(33),
SimpleMigrated(44)
])
bag.add("converged", m, roslib.rostime.Time())
bag.close()
def fastrebag(inbag, outbag):
rebag = rosrecord.Rebagger(outbag)
for i, (topic, msg, t) in enumerate(rosrecord.logplayer(inbag, raw=True)):
rebag.add(topic, msg, t, raw=True)
rebag.close()