00001
00002 '''
00003 bag_analyzer.py
00004 Mac Mason <mac@cs.duke.edu>
00005
00006 Given a list of bagfiles, compute for each their (a) duration and size (in
00007 bits).
00008 '''
00009
00010 import sys
00011 import os
00012 import subprocess
00013
00014 if len(sys.argv) < 2:
00015 print "Usage: bag_analyzer.py <one or more bagfiles>"
00016 sys.exit(1)
00017
00018 def sum_tuple(a, b):
00019 '''
00020 Our tuples are (duration (sec.), compressed size, uncompressed size (GB),
00021 count)
00022 '''
00023 return (a[0] + b[0], a[1] + b[1], a[2] + b[2], a[3] + b[3])
00024
00025 def tuplize(f):
00026 '''
00027 Given a filename f, call rosbag info and parse out the three tuple
00028 values.
00029 '''
00030 lines = subprocess.Popen(['rosbag', 'info', f],
00031 stdout=subprocess.PIPE,
00032 stderr=subprocess.STDOUT,
00033 env=os.environ).communicate()[0].split('\n')
00034
00035 def parse_duration(lines):
00036 ''' Find the duration in second, given the lines.'''
00037 try:
00038 line = (line for line in lines if 'duration:' in line).next()
00039 except StopIteration:
00040 print lines
00041 return float(line.split()[-1].split('(')[1].split('s')[0])
00042
00043 def parse_compressed(lines):
00044 '''
00045 Get the compressed value. Note the check for '%' to make sure we don't
00046 actually parse the 'uncompressed' line.
00047 '''
00048 line = (l for l in lines if 'compressed:' in l and '%' in l).next()
00049 x = float(line.split()[1])
00050 if 'GB' not in line:
00051 x /= 1024.0
00052 return x
00053
00054 def parse_uncompressed(lines):
00055 '''
00056 And the uncompressed size.
00057 '''
00058 line = (line for line in lines if 'uncompressed:' in line).next()
00059 return float(line.split()[1])
00060
00061 return (parse_duration(lines),
00062 parse_compressed(lines),
00063 parse_uncompressed(lines),
00064 1)
00065
00066
00067
00068 print "I have", len(sys.argv[1:]), "bagfiles."
00069 res = reduce(sum_tuple, (tuplize(x) for x in sys.argv[1:]))
00070 print "Duration: %f" % res[0]
00071 print "Compressed: %f GB" % res[1]
00072 print "Uncompressed: %f GB " % res[2]
00073 print "Count: %d" % res[3]
