rosbag.rosbag

1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2010, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 33 from __future__ import print_function 34 35 import optparse 36 import os 37 import shutil 38 import signal 39 import subprocess 40 import sys 41 import time 42 try: 43 from UserDict import UserDict # Python 2.x 44 except ImportError: 45 from collections import UserDict # Python 3.x 46 47 import roslib.message 48 import roslib.packages 49 50 from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException 51 from .migration import MessageMigrator, fixbag2, checkbag

52 53 -def print_trans(old, new, indent):

54 from_txt = '%s [%s]' % (old._type, old._md5sum) 55 if new is not None: 56 to_txt= '%s [%s]' % (new._type, new._md5sum) 57 else: 58 to_txt = 'Unknown' 59 print(' ' * indent + ' * From: %s' % from_txt) 60 print(' ' * indent + ' To: %s' % to_txt)

61

62 -def handle_split(option, opt_str, value, parser):

63 parser.values.split = True 64 if len(parser.rargs) > 0 and parser.rargs[0].isdigit(): 65 print("Use of \"--split <MAX_SIZE>\" has been deprecated. Please use --split --size <MAX_SIZE> or --split --duration <MAX_DURATION>", file=sys.stderr) 66 parser.values.size = int(parser.rargs.pop(0))

67

68 69 -def _stop_process(signum, frame, old_handler, process):

70 process.terminate() 71 if old_handler: 72 old_handler(signum, frame)

73

74 75 -def _send_process_sigint(signum, frame, old_handler, process):

76 process.send_signal(signal.SIGINT) 77 if old_handler: 78 old_handler(signum, frame)

79

80 81 -def record_cmd(argv):

82 parser = optparse.OptionParser(usage="rosbag record TOPIC1 [TOPIC2 TOPIC3 ...]", 83 description="Record a bag file with the contents of specified topics.", 84 formatter=optparse.IndentedHelpFormatter()) 85 86 parser.add_option("-a", "--all", dest="all", default=False, action="store_true", help="record all topics") 87 parser.add_option("-e", "--regex", dest="regex", default=False, action="store_true", help="match topics using regular expressions") 88 parser.add_option("-x", "--exclude", dest="exclude_regex", default="", action="store", help="exclude topics matching the follow regular expression (subtracts from -a or regex)") 89 parser.add_option("-q", "--quiet", dest="quiet", default=False, action="store_true", help="suppress console output") 90 parser.add_option("-o", "--output-prefix", dest="prefix", default=None, action="store", help="prepend PREFIX to beginning of bag name (name will always end with date stamp)") 91 parser.add_option("-O", "--output-name", dest="name", default=None, action="store", help="record to bag with name NAME.bag") 92 parser.add_option( "--split", dest="split", default=False, callback=handle_split, action="callback", help="split the bag when maximum size or duration is reached") 93 parser.add_option( "--max-splits", dest="max_splits", type='int', action="store", help="Keep a maximum of N bag files, when reaching the maximum erase the oldest one to keep a constant number of files.", metavar="MAX_SPLITS") 94 parser.add_option( "--size", dest="size", type='int', action="store", help="record a bag of maximum size SIZE MB. (Default: infinite)", metavar="SIZE") 95 parser.add_option( "--duration", dest="duration", type='string',action="store", help="record a bag of maximum duration DURATION in seconds, unless 'm', or 'h' is appended.", metavar="DURATION") 96 parser.add_option("-b", "--buffsize", dest="buffsize", default=256, type='int', action="store", help="use an internal buffer of SIZE MB (Default: %default, 0 = infinite)", metavar="SIZE") 97 parser.add_option("--chunksize", dest="chunksize", default=768, type='int', action="store", help="Advanced. Record to chunks of SIZE KB (Default: %default)", metavar="SIZE") 98 parser.add_option("-l", "--limit", dest="num", default=0, type='int', action="store", help="only record NUM messages on each topic") 99 parser.add_option( "--node", dest="node", default=None, type='string',action="store", help="record all topics subscribed to by a specific node") 100 parser.add_option("-j", "--bz2", dest="compression", default=None, action="store_const", const='bz2', help="use BZ2 compression") 101 parser.add_option("--lz4", dest="compression", action="store_const", const='lz4', help="use LZ4 compression") 102 parser.add_option("--tcpnodelay", dest="tcpnodelay", action="store_true", help="Use the TCP_NODELAY transport hint when subscribing to topics.") 103 parser.add_option("--udp", dest="udp", action="store_true", help="Use the UDP transport hint when subscribing to topics.") 104 105 (options, args) = parser.parse_args(argv) 106 107 if len(args) == 0 and not options.all and not options.node: 108 parser.error("You must specify a topic name or else use the '-a' option.") 109 110 if options.prefix is not None and options.name is not None: 111 parser.error("Can't set both prefix and name.") 112 113 recordpath = roslib.packages.find_node('rosbag', 'record') 114 if not recordpath: 115 parser.error("Cannot find rosbag/record executable") 116 cmd = [recordpath[0]] 117 118 cmd.extend(['--buffsize', str(options.buffsize)]) 119 cmd.extend(['--chunksize', str(options.chunksize)]) 120 121 if options.num != 0: cmd.extend(['--limit', str(options.num)]) 122 if options.quiet: cmd.extend(["--quiet"]) 123 if options.prefix: cmd.extend(["-o", options.prefix]) 124 if options.name: cmd.extend(["-O", options.name]) 125 if options.exclude_regex: cmd.extend(["--exclude", options.exclude_regex]) 126 if options.all: cmd.extend(["--all"]) 127 if options.regex: cmd.extend(["--regex"]) 128 if options.compression: cmd.extend(["--%s" % options.compression]) 129 if options.split: 130 if not options.duration and not options.size: 131 parser.error("Split specified without giving a maximum duration or size") 132 cmd.extend(["--split"]) 133 if options.max_splits: 134 cmd.extend(["--max-splits", str(options.max_splits)]) 135 if options.duration: cmd.extend(["--duration", options.duration]) 136 if options.size: cmd.extend(["--size", str(options.size)]) 137 if options.node: 138 cmd.extend(["--node", options.node]) 139 if options.tcpnodelay: cmd.extend(["--tcpnodelay"]) 140 if options.udp: cmd.extend(["--udp"]) 141 142 cmd.extend(args) 143 144 old_handler = signal.signal( 145 signal.SIGTERM, 146 lambda signum, frame: _stop_process(signum, frame, old_handler, process) 147 ) 148 149 old_handler = signal.signal( 150 signal.SIGINT, 151 lambda signum, frame: _send_process_sigint(signum, frame, old_handler, process) 152 ) 153 154 # Better way of handling it than os.execv 155 # This makes sure stdin handles are passed to the process. 156 process = subprocess.Popen(cmd) 157 process.wait()

158

159 160 -def info_cmd(argv):

161 parser = optparse.OptionParser(usage='rosbag info [options] BAGFILE1 [BAGFILE2 BAGFILE3 ...]', 162 description='Summarize the contents of one or more bag files.') 163 parser.add_option('-y', '--yaml', dest='yaml', default=False, action='store_true', help='print information in YAML format') 164 parser.add_option('-k', '--key', dest='key', default=None, action='store', help='print information on the given key') 165 parser.add_option( '--freq', dest='freq', default=False, action='store_true', help='display topic message frequency statistics') 166 (options, args) = parser.parse_args(argv) 167 168 if len(args) == 0: 169 parser.error('You must specify at least 1 bag file.') 170 if options.key and not options.yaml: 171 parser.error('You can only specify key when printing in YAML format.') 172 173 for i, arg in enumerate(args): 174 try: 175 b = Bag(arg, 'r', skip_index=not options.freq) 176 if options.yaml: 177 info = b._get_yaml_info(key=options.key) 178 if info is not None: 179 print(info) 180 else: 181 print(b) 182 b.close() 183 if i < len(args) - 1: 184 print('---') 185 186 except ROSBagUnindexedException as ex: 187 print('ERROR bag unindexed: %s. Run rosbag reindex.' % arg, 188 file=sys.stderr) 189 sys.exit(1) 190 except ROSBagException as ex: 191 print('ERROR reading %s: %s' % (arg, str(ex)), file=sys.stderr) 192 sys.exit(1) 193 except IOError as ex: 194 print('ERROR reading %s: %s' % (arg, str(ex)), file=sys.stderr) 195 sys.exit(1)

196

197 198 -def handle_topics(option, opt_str, value, parser):

199 topics = [] 200 for arg in parser.rargs: 201 if arg[:2] == "--" and len(arg) > 2: 202 break 203 if arg[:1] == "-" and len(arg) > 1: 204 break 205 topics.append(arg) 206 parser.values.topics.extend(topics) 207 del parser.rargs[:len(topics)]

208

209 210 -def handle_pause_topics(option, opt_str, value, parser):

211 pause_topics = [] 212 for arg in parser.rargs: 213 if arg[:2] == "--" and len(arg) > 2: 214 break 215 if arg[:1] == "-" and len(arg) > 1: 216 break 217 pause_topics.append(arg) 218 parser.values.pause_topics.extend(pause_topics) 219 del parser.rargs[:len(pause_topics)]

220

221 222 -def play_cmd(argv):

223 parser = optparse.OptionParser(usage="rosbag play BAGFILE1 [BAGFILE2 BAGFILE3 ...]", 224 description="Play back the contents of one or more bag files in a time-synchronized fashion.") 225 parser.add_option("-p", "--prefix", dest="prefix", default='', type='str', help="prefix all output topics") 226 parser.add_option("-q", "--quiet", dest="quiet", default=False, action="store_true", help="suppress console output") 227 parser.add_option("-i", "--immediate", dest="immediate", default=False, action="store_true", help="play back all messages without waiting") 228 parser.add_option("--pause", dest="pause", default=False, action="store_true", help="start in paused mode") 229 parser.add_option("--queue", dest="queue", default=100, type='int', action="store", help="use an outgoing queue of size SIZE (defaults to %default)", metavar="SIZE") 230 parser.add_option("--clock", dest="clock", default=False, action="store_true", help="publish the clock time") 231 parser.add_option("--hz", dest="freq", default=100, type='float', action="store", help="use a frequency of HZ when publishing clock time (default: %default)", metavar="HZ") 232 parser.add_option("-d", "--delay", dest="delay", default=0.2, type='float', action="store", help="sleep SEC seconds after every advertise call (to allow subscribers to connect)", metavar="SEC") 233 parser.add_option("-r", "--rate", dest="rate", default=1.0, type='float', action="store", help="multiply the publish rate by FACTOR", metavar="FACTOR") 234 parser.add_option("-s", "--start", dest="start", default=0.0, type='float', action="store", help="start SEC seconds into the bag files", metavar="SEC") 235 parser.add_option("-u", "--duration", dest="duration", default=None, type='float', action="store", help="play only SEC seconds from the bag files", metavar="SEC") 236 parser.add_option("--skip-empty", dest="skip_empty", default=None, type='float', action="store", help="skip regions in the bag with no messages for more than SEC seconds", metavar="SEC") 237 parser.add_option("-l", "--loop", dest="loop", default=False, action="store_true", help="loop playback") 238 parser.add_option("-k", "--keep-alive", dest="keep_alive", default=False, action="store_true", help="keep alive past end of bag (useful for publishing latched topics)") 239 parser.add_option("--try-future-version", dest="try_future", default=False, action="store_true", help="still try to open a bag file, even if the version number is not known to the player") 240 parser.add_option("--topics", dest="topics", default=[], callback=handle_topics, action="callback", help="topics to play back") 241 parser.add_option("--pause-topics", dest="pause_topics", default=[], callback=handle_pause_topics, action="callback", help="topics to pause on during playback") 242 parser.add_option("--bags", help="bags files to play back from") 243 parser.add_option("--wait-for-subscribers", dest="wait_for_subscribers", default=False, action="store_true", help="wait for at least one subscriber on each topic before publishing") 244 245 (options, args) = parser.parse_args(argv) 246 247 if options.bags: 248 args.append(options.bags) 249 250 if len(args) == 0: 251 parser.error('You must specify at least 1 bag file to play back.') 252 253 playpath = roslib.packages.find_node('rosbag', 'play') 254 if not playpath: 255 parser.error("Cannot find rosbag/play executable") 256 cmd = [playpath[0]] 257 258 if options.prefix: 259 cmd.extend(["--prefix", str(options.prefix)]) 260 261 if options.quiet: cmd.extend(["--quiet"]) 262 if options.pause: cmd.extend(["--pause"]) 263 if options.immediate: cmd.extend(["--immediate"]) 264 if options.loop: cmd.extend(["--loop"]) 265 if options.keep_alive: cmd.extend(["--keep-alive"]) 266 if options.try_future: cmd.extend(["--try-future-version"]) 267 if options.wait_for_subscribers: cmd.extend(["--wait-for-subscribers"]) 268 269 if options.clock: 270 cmd.extend(["--clock", "--hz", str(options.freq)]) 271 272 cmd.extend(['--queue', str(options.queue)]) 273 cmd.extend(['--rate', str(options.rate)]) 274 cmd.extend(['--delay', str(options.delay)]) 275 cmd.extend(['--start', str(options.start)]) 276 if options.duration: 277 cmd.extend(['--duration', str(options.duration)]) 278 if options.skip_empty: 279 cmd.extend(['--skip-empty', str(options.skip_empty)]) 280 281 if options.topics: 282 cmd.extend(['--topics'] + options.topics) 283 284 if options.pause_topics: 285 cmd.extend(['--pause-topics'] + options.pause_topics) 286 287 # prevent bag files to be passed as --topics or --pause-topics 288 if options.topics or options.pause_topics: 289 cmd.extend(['--bags']) 290 291 cmd.extend(args) 292 293 old_handler = signal.signal( 294 signal.SIGTERM, 295 lambda signum, frame: _stop_process(signum, frame, old_handler, process) 296 ) 297 # Better way of handling it than os.execv 298 # This makes sure stdin handles are passed to the process. 299 process = subprocess.Popen(cmd) 300 process.wait()

301

302 303 -def filter_cmd(argv):

304 def expr_eval(expr): 305 def eval_fn(topic, m, t): 306 return eval(expr)

307 return eval_fn 308 309 parser = optparse.OptionParser(usage="""rosbag filter [options] INBAG OUTBAG EXPRESSION 310 311 EXPRESSION can be any Python-legal expression. 312 313 The following variables are available: 314 * topic: name of topic 315 * m: message 316 * t: time of message (t.secs, t.nsecs)""", 317 description='Filter the contents of the bag.') 318 parser.add_option('-p', '--print', action='store', dest='verbose_pattern', default=None, metavar='PRINT-EXPRESSION', help='Python expression to print for verbose debugging. Uses same variables as filter-expression') 319 320 options, args = parser.parse_args(argv) 321 if len(args) == 0: 322 parser.error('You must specify an in bag, an out bag, and an expression.') 323 if len(args) == 1: 324 parser.error('You must specify an out bag and an expression.') 325 if len(args) == 2: 326 parser.error("You must specify an expression.") 327 if len(args) > 3: 328 parser.error("Too many arguments.") 329 330 inbag_filename, outbag_filename, expr = args 331 332 if not os.path.isfile(inbag_filename): 333 print('Cannot locate input bag file [%s]' % inbag_filename, file=sys.stderr) 334 sys.exit(2) 335 336 if os.path.realpath(inbag_filename) == os.path.realpath(outbag_filename): 337 print('Cannot use same file as input and output [%s]' % inbag_filename, file=sys.stderr) 338 sys.exit(3) 339 340 filter_fn = expr_eval(expr) 341 342 outbag = Bag(outbag_filename, 'w') 343 344 try: 345 inbag = Bag(inbag_filename) 346 except ROSBagUnindexedException as ex: 347 print('ERROR bag unindexed: %s. Run rosbag reindex.' % inbag_filename, file=sys.stderr) 348 sys.exit(1) 349 350 try: 351 meter = ProgressMeter(outbag_filename, inbag._uncompressed_size) 352 total_bytes = 0 353 354 if options.verbose_pattern: 355 verbose_pattern = expr_eval(options.verbose_pattern) 356 357 for topic, raw_msg, t in inbag.read_messages(raw=True): 358 msg_type, serialized_bytes, md5sum, pos, pytype = raw_msg 359 msg = pytype() 360 msg.deserialize(serialized_bytes) 361 362 if filter_fn(topic, msg, t): 363 print('MATCH', verbose_pattern(topic, msg, t)) 364 outbag.write(topic, msg, t) 365 else: 366 print('NO MATCH', verbose_pattern(topic, msg, t)) 367 368 total_bytes += len(serialized_bytes) 369 meter.step(total_bytes) 370 else: 371 for topic, raw_msg, t in inbag.read_messages(raw=True): 372 msg_type, serialized_bytes, md5sum, pos, pytype = raw_msg 373 msg = pytype() 374 msg.deserialize(serialized_bytes) 375 376 if filter_fn(topic, msg, t): 377 outbag.write(topic, msg, t) 378 379 total_bytes += len(serialized_bytes) 380 meter.step(total_bytes) 381 382 meter.finish() 383 384 finally: 385 inbag.close() 386 outbag.close() 387

388 -def fix_cmd(argv):

389 parser = optparse.OptionParser(usage='rosbag fix INBAG OUTBAG [EXTRARULES1 EXTRARULES2 ...]', description='Repair the messages in a bag file so that it can be played in the current system.') 390 parser.add_option('-n', '--noplugins', action='store_true', dest='noplugins', help='do not load rulefiles via plugins') 391 parser.add_option('--force', action='store_true', dest='force', help='proceed with migrations, even if not all rules defined') 392 393 (options, args) = parser.parse_args(argv) 394 395 if len(args) < 1: 396 parser.error('You must pass input and output bag files.') 397 if len(args) < 2: 398 parser.error('You must pass an output bag file.') 399 400 inbag_filename = args[0] 401 outbag_filename = args[1] 402 rules = args[2:] 403 404 ext = os.path.splitext(outbag_filename)[1] 405 if ext == '.bmr': 406 parser.error('Input file should be a bag file, not a rule file.') 407 if ext != '.bag': 408 parser.error('Output file must be a bag file.') 409 410 outname = outbag_filename + '.tmp' 411 412 if os.path.exists(outbag_filename): 413 if not os.access(outbag_filename, os.W_OK): 414 print('Don\'t have permissions to access %s' % outbag_filename, file=sys.stderr) 415 sys.exit(1) 416 else: 417 try: 418 file = open(outbag_filename, 'w') 419 file.close() 420 except IOError as e: 421 print('Cannot open %s for writing' % outbag_filename, file=sys.stderr) 422 sys.exit(1) 423 424 if os.path.exists(outname): 425 if not os.access(outname, os.W_OK): 426 print('Don\'t have permissions to access %s' % outname, file=sys.stderr) 427 sys.exit(1) 428 else: 429 try: 430 file = open(outname, 'w') 431 file.close() 432 except IOError as e: 433 print('Cannot open %s for writing' % outname, file=sys.stderr) 434 sys.exit(1) 435 436 if options.noplugins is None: 437 options.noplugins = False 438 439 migrator = MessageMigrator(rules, plugins=not options.noplugins) 440 441 try: 442 migrations = fixbag2(migrator, inbag_filename, outname, options.force) 443 except ROSBagUnindexedException as ex: 444 print('ERROR bag unindexed: %s. Run rosbag reindex.' % inbag_filename, 445 file=sys.stderr) 446 sys.exit(1) 447 448 if len(migrations) == 0: 449 os.rename(outname, outbag_filename) 450 print('Bag migrated successfully.') 451 else: 452 print('Bag could not be migrated. The following migrations could not be performed:') 453 for m in migrations: 454 print_trans(m[0][0].old_class, m[0][-1].new_class, 0) 455 456 if len(m[1]) > 0: 457 print(' %d rules missing:' % len(m[1])) 458 for r in m[1]: 459 print_trans(r.old_class, r.new_class,1) 460 461 print('Try running \'rosbag check\' to create the necessary rule files or run \'rosbag fix\' with the \'--force\' option.') 462 os.remove(outname) 463 sys.exit(1)

464

465 -def check_cmd(argv):

466 parser = optparse.OptionParser(usage='rosbag check BAG [-g RULEFILE] [EXTRARULES1 EXTRARULES2 ...]', description='Determine whether a bag is playable in the current system, or if it can be migrated.') 467 parser.add_option('-g', '--genrules', action='store', dest='rulefile', default=None, help='generate a rulefile named RULEFILE') 468 parser.add_option('-a', '--append', action='store_true', dest='append', help='append to the end of an existing rulefile after loading it') 469 parser.add_option('-n', '--noplugins', action='store_true', dest='noplugins', help='do not load rulefiles via plugins') 470 (options, args) = parser.parse_args(argv) 471 472 if len(args) == 0: 473 parser.error('You must specify a bag file to check.') 474 if options.append and options.rulefile is None: 475 parser.error('Cannot specify -a without also specifying -g.') 476 if options.rulefile is not None: 477 rulefile_exists = os.path.isfile(options.rulefile) 478 if rulefile_exists and not options.append: 479 parser.error('The file %s already exists. Include -a if you intend to append.' % options.rulefile) 480 if not rulefile_exists and options.append: 481 parser.error('The file %s does not exist, and so -a is invalid.' % options.rulefile) 482 483 if options.append: 484 append_rule = [options.rulefile] 485 else: 486 append_rule = [] 487 488 # First check that the bag is not unindexed 489 try: 490 Bag(args[0]) 491 except ROSBagUnindexedException as ex: 492 print('ERROR bag unindexed: %s. Run rosbag reindex.' % args[0], file=sys.stderr) 493 sys.exit(1) 494 495 mm = MessageMigrator(args[1:] + append_rule, not options.noplugins) 496 497 migrations = checkbag(mm, args[0]) 498 499 if len(migrations) == 0: 500 print('Bag file does not need any migrations.') 501 exit(0) 502 503 print('The following migrations need to occur:') 504 all_rules = [] 505 for m in migrations: 506 all_rules.extend(m[1]) 507 508 print_trans(m[0][0].old_class, m[0][-1].new_class, 0) 509 if len(m[1]) > 0: 510 print(" %d rules missing:" % len(m[1])) 511 for r in m[1]: 512 print_trans(r.old_class, r.new_class, 1) 513 514 if options.rulefile is None: 515 if all_rules == []: 516 print("\nAll rules defined. Bag is ready to be migrated") 517 else: 518 print("\nTo generate rules, please run with -g <rulefile>") 519 exit(0) 520 521 output = '' 522 rules_left = mm.filter_rules_unique(all_rules) 523 524 if rules_left == []: 525 print("\nNo additional rule files needed to be generated. %s not created."%(options.rulefile)) 526 exit(0) 527 528 while len(rules_left) > 0: 529 extra_rules = [] 530 for r in rules_left: 531 if r.new_class is None: 532 print('The message type %s appears to have moved. Please enter the type to migrate it to.' % r.old_class._type) 533 new_type = raw_input('>') 534 new_class = roslib.message.get_message_class(new_type) 535 while new_class is None: 536 print("\'%s\' could not be found in your system. Please make sure it is built." % new_type) 537 new_type = raw_input('>') 538 new_class = roslib.message.get_message_class(new_type) 539 new_rule = mm.make_update_rule(r.old_class, new_class) 540 R = new_rule(mm, 'GENERATED.' + new_rule.__name__) 541 R.find_sub_paths() 542 new_rules = [r for r in mm.expand_rules(R.sub_rules) if r.valid == False] 543 extra_rules.extend(new_rules) 544 print('Creating the migration rule for %s requires additional missing rules:' % new_type) 545 for nr in new_rules: 546 print_trans(nr.old_class, nr.new_class,1) 547 output += R.get_class_def() 548 else: 549 output += r.get_class_def() 550 rules_left = mm.filter_rules_unique(extra_rules) 551 f = open(options.rulefile, 'a') 552 f.write(output) 553 f.close() 554 555 print('\nThe necessary rule files have been written to: %s' % options.rulefile)

556

557 -def compress_cmd(argv):

558 parser = optparse.OptionParser(usage='rosbag compress [options] BAGFILE1 [BAGFILE2 ...]', 559 description='Compress one or more bag files.') 560 parser.add_option( '--output-dir', action='store', dest='output_dir', help='write to directory DIR', metavar='DIR') 561 parser.add_option('-f', '--force', action='store_true', dest='force', help='force overwriting of backup file if it exists') 562 parser.add_option('-q', '--quiet', action='store_true', dest='quiet', help='suppress noncritical messages') 563 parser.add_option('-j', '--bz2', action='store_const', dest='compression', help='use BZ2 compression', const=Compression.BZ2, default=Compression.BZ2) 564 parser.add_option( '--lz4', action='store_const', dest='compression', help='use lz4 compression', const=Compression.LZ4) 565 (options, args) = parser.parse_args(argv) 566 567 if len(args) < 1: 568 parser.error('You must specify at least one bag file.') 569 570 op = lambda inbag, outbag, quiet: change_compression_op(inbag, outbag, options.compression, options.quiet) 571 572 bag_op(args, False, lambda b: False, op, options.output_dir, options.force, options.quiet)

573

574 -def decompress_cmd(argv):

575 parser = optparse.OptionParser(usage='rosbag decompress [options] BAGFILE1 [BAGFILE2 ...]', 576 description='Decompress one or more bag files.') 577 parser.add_option( '--output-dir', action='store', dest='output_dir', help='write to directory DIR', metavar='DIR') 578 parser.add_option('-f', '--force', action='store_true', dest='force', help='force overwriting of backup file if it exists') 579 parser.add_option('-q', '--quiet', action='store_true', dest='quiet', help='suppress noncritical messages') 580 581 (options, args) = parser.parse_args(argv) 582 583 if len(args) < 1: 584 parser.error('You must specify at least one bag file.') 585 586 op = lambda inbag, outbag, quiet: change_compression_op(inbag, outbag, Compression.NONE, options.quiet) 587 588 bag_op(args, False, lambda b: False, op, options.output_dir, options.force, options.quiet)

589

590 -def reindex_cmd(argv):

591 parser = optparse.OptionParser(usage='rosbag reindex [options] BAGFILE1 [BAGFILE2 ...]', 592 description='Reindexes one or more bag files.') 593 parser.add_option( '--output-dir', action='store', dest='output_dir', help='write to directory DIR', metavar='DIR') 594 parser.add_option('-f', '--force', action='store_true', dest='force', help='force overwriting of backup file if it exists') 595 parser.add_option('-q', '--quiet', action='store_true', dest='quiet', help='suppress noncritical messages') 596 597 (options, args) = parser.parse_args(argv) 598 599 if len(args) < 1: 600 parser.error('You must specify at least one bag file.') 601 602 op = lambda inbag, outbag, quiet: reindex_op(inbag, outbag, options.quiet) 603 604 bag_op(args, True, lambda b: b.version > 102, op, options.output_dir, options.force, options.quiet)

605

606 -def bag_op(inbag_filenames, allow_unindexed, copy_fn, op, output_dir=None, force=False, quiet=False):

607 for inbag_filename in inbag_filenames: 608 # Check we can read the file 609 try: 610 inbag = Bag(inbag_filename, 'r', allow_unindexed=allow_unindexed) 611 except ROSBagUnindexedException: 612 print('ERROR bag unindexed: %s. Run rosbag reindex.' % inbag_filename, file=sys.stderr) 613 continue 614 except (ROSBagException, IOError) as ex: 615 print('ERROR reading %s: %s' % (inbag_filename, str(ex)), file=sys.stderr) 616 continue 617 618 # Determine whether we should copy the bag 619 copy = copy_fn(inbag) 620 621 inbag.close() 622 623 # Determine filename for output bag 624 if output_dir is None: 625 outbag_filename = inbag_filename 626 else: 627 outbag_filename = os.path.join(output_dir, os.path.split(inbag_filename)[1]) 628 629 backup_filename = None 630 if outbag_filename == inbag_filename: 631 # Rename the input bag to ###.orig.###, and open for reading 632 backup_filename = '%s.orig%s' % os.path.splitext(inbag_filename) 633 634 if not force and os.path.exists(backup_filename): 635 if not quiet: 636 print('Skipping %s. Backup path %s already exists.' % (inbag_filename, backup_filename), file=sys.stderr) 637 continue 638 639 try: 640 if copy: 641 shutil.copy(inbag_filename, backup_filename) 642 else: 643 os.rename(inbag_filename, backup_filename) 644 except OSError as ex: 645 print('ERROR %s %s to %s: %s' % ('copying' if copy else 'moving', inbag_filename, backup_filename, str(ex)), file=sys.stderr) 646 continue 647 648 source_filename = backup_filename 649 else: 650 if copy: 651 shutil.copy(inbag_filename, outbag_filename) 652 source_filename = outbag_filename 653 else: 654 source_filename = inbag_filename 655 656 try: 657 inbag = Bag(source_filename, 'r', allow_unindexed=allow_unindexed) 658 659 # Open the output bag file for writing 660 try: 661 if copy: 662 outbag = Bag(outbag_filename, 'a', allow_unindexed=allow_unindexed) 663 else: 664 outbag = Bag(outbag_filename, 'w') 665 except (ROSBagException, IOError) as ex: 666 print('ERROR writing to %s: %s' % (outbag_filename, str(ex)), file=sys.stderr) 667 inbag.close() 668 continue 669 670 # Perform the operation 671 try: 672 op(inbag, outbag, quiet=quiet) 673 except ROSBagException as ex: 674 print('\nERROR operating on %s: %s' % (source_filename, str(ex)), file=sys.stderr) 675 inbag.close() 676 outbag.close() 677 continue 678 679 outbag.close() 680 inbag.close() 681 682 except KeyboardInterrupt: 683 if backup_filename is not None: 684 try: 685 if copy: 686 os.remove(backup_filename) 687 else: 688 os.rename(backup_filename, inbag_filename) 689 except OSError as ex: 690 print('ERROR %s %s to %s: %s', ('removing' if copy else 'moving', backup_filename, inbag_filename, str(ex)), file=sys.stderr) 691 break 692 693 except (ROSBagException, IOError) as ex: 694 print('ERROR operating on %s: %s' % (inbag_filename, str(ex)), file=sys.stderr)

695

696 -def change_compression_op(inbag, outbag, compression, quiet):

697 outbag.compression = compression 698 699 if quiet: 700 for topic, msg, t in inbag.read_messages(raw=True): 701 outbag.write(topic, msg, t, raw=True) 702 else: 703 meter = ProgressMeter(outbag.filename, inbag._uncompressed_size) 704 705 total_bytes = 0 706 for topic, msg, t in inbag.read_messages(raw=True): 707 msg_type, serialized_bytes, md5sum, pos, pytype = msg 708 709 outbag.write(topic, msg, t, raw=True) 710 711 total_bytes += len(serialized_bytes) 712 meter.step(total_bytes) 713 714 meter.finish()

715

716 -def reindex_op(inbag, outbag, quiet):

717 if inbag.version == 102: 718 if quiet: 719 try: 720 for offset in inbag.reindex(): 721 pass 722 except: 723 pass 724 725 for (topic, msg, t) in inbag.read_messages(): 726 outbag.write(topic, msg, t) 727 else: 728 meter = ProgressMeter(outbag.filename, inbag.size) 729 try: 730 for offset in inbag.reindex(): 731 meter.step(offset) 732 except: 733 pass 734 meter.finish() 735 736 meter = ProgressMeter(outbag.filename, inbag.size) 737 for (topic, msg, t) in inbag.read_messages(): 738 outbag.write(topic, msg, t) 739 meter.step(inbag._file.tell()) 740 meter.finish() 741 else: 742 if quiet: 743 try: 744 for offset in outbag.reindex(): 745 pass 746 except: 747 pass 748 else: 749 meter = ProgressMeter(outbag.filename, outbag.size) 750 try: 751 for offset in outbag.reindex(): 752 meter.step(offset) 753 except: 754 pass 755 meter.finish()

756

757 -class RosbagCmds(UserDict):

758 - def __init__(self):

759 UserDict.__init__(self) 760 self._description = {} 761 self['help'] = self.help_cmd

762

763 - def add_cmd(self, name, function, description):

764 self[name] = function 765 self._description[name] = description

766

767 - def get_valid_cmds(self):

768 str = "Available subcommands:\n" 769 for k in sorted(self.keys()): 770 str += " %s " % k 771 if k in self._description.keys(): 772 str +="\t%s" % self._description[k] 773 str += "\n" 774 return str

775

776 - def help_cmd(self,argv):

777 argv = [a for a in argv if a != '-h' and a != '--help'] 778 779 if len(argv) == 0: 780 print('Usage: rosbag <subcommand> [options] [args]') 781 print() 782 print("A bag is a file format in ROS for storing ROS message data. The rosbag command can record, replay and manipulate bags.") 783 print() 784 print(self.get_valid_cmds()) 785 print('For additional information, see http://wiki.ros.org/rosbag') 786 print() 787 return 788 789 cmd = argv[0] 790 if cmd in self: 791 self[cmd](['-h']) 792 else: 793 print("Unknown command: '%s'" % cmd, file=sys.stderr) 794 print(self.get_valid_cmds(), file=sys.stderr)

795

796 -class ProgressMeter(object):

797 - def __init__(self, path, bytes_total, refresh_rate=1.0):

798 self.path = path 799 self.bytes_total = bytes_total 800 self.refresh_rate = refresh_rate 801 802 self.elapsed = 0.0 803 self.update_elapsed = 0.0 804 self.bytes_read = 0.0 805 806 self.start_time = time.time() 807 808 self._update_progress()

809

810 - def step(self, bytes_read, force_update=False):

811 self.bytes_read = bytes_read 812 self.elapsed = time.time() - self.start_time 813 814 if force_update or self.elapsed - self.update_elapsed > self.refresh_rate: 815 self._update_progress() 816 self.update_elapsed = self.elapsed

817

818 - def _update_progress(self):

819 max_path_len = self.terminal_width() - 37 820 path = self.path 821 if len(path) > max_path_len: 822 path = '...' + self.path[-max_path_len + 3:] 823 824 bytes_read_str = self._human_readable_size(float(self.bytes_read)) 825 bytes_total_str = self._human_readable_size(float(self.bytes_total)) 826 827 if self.bytes_read < self.bytes_total: 828 complete_fraction = float(self.bytes_read) / self.bytes_total 829 pct_complete = int(100.0 * complete_fraction) 830 831 if complete_fraction > 0.0: 832 eta = self.elapsed * (1.0 / complete_fraction - 1.0) 833 eta_min, eta_sec = eta / 60, eta % 60 834 if eta_min > 99: 835 eta_str = '--:--' 836 else: 837 eta_str = '%02d:%02d' % (eta_min, eta_sec) 838 else: 839 eta_str = '--:--' 840 841 progress = '%-*s %3d%% %8s / %8s %s ETA' % (max_path_len, path, pct_complete, bytes_read_str, bytes_total_str, eta_str) 842 else: 843 progress = '%-*s 100%% %19s %02d:%02d ' % (max_path_len, path, bytes_total_str, self.elapsed / 60, self.elapsed % 60) 844 845 print('\r', progress, end='') 846 sys.stdout.flush()

847

848 - def _human_readable_size(self, size):

849 multiple = 1024.0 850 for suffix in ['KB', 'MB', 'GB', 'TB', 'PB', 'EB', 'ZB', 'YB']: 851 size /= multiple 852 if size < multiple: 853 return '%.1f %s' % (size, suffix) 854 855 raise ValueError('number too large')

856

857 - def finish(self):

858 self.step(self.bytes_total, force_update=True) 859 print()

860 861 @staticmethod

862 - def terminal_width():

863 """Estimate the width of the terminal""" 864 width = 0 865 try: 866 import struct, fcntl, termios 867 s = struct.pack('HHHH', 0, 0, 0, 0) 868 x = fcntl.ioctl(1, termios.TIOCGWINSZ, s) 869 width = struct.unpack('HHHH', x)[1] 870 except (IOError, ImportError): 871 pass 872 if width <= 0: 873 try: 874 width = int(os.environ['COLUMNS']) 875 except: 876 pass 877 if width <= 0: 878 width = 80 879 880 return width

881

882 -def rosbagmain(argv=None):

883 cmds = RosbagCmds() 884 cmds.add_cmd('record', record_cmd, "Record a bag file with the contents of specified topics.") 885 cmds.add_cmd('info', info_cmd, 'Summarize the contents of one or more bag files.') 886 cmds.add_cmd('play', play_cmd, "Play back the contents of one or more bag files in a time-synchronized fashion.") 887 cmds.add_cmd('check', check_cmd, 'Determine whether a bag is playable in the current system, or if it can be migrated.') 888 cmds.add_cmd('fix', fix_cmd, 'Repair the messages in a bag file so that it can be played in the current system.') 889 cmds.add_cmd('filter', filter_cmd, 'Filter the contents of the bag.') 890 cmds.add_cmd('compress', compress_cmd, 'Compress one or more bag files.') 891 cmds.add_cmd('decompress', decompress_cmd, 'Decompress one or more bag files.') 892 cmds.add_cmd('reindex', reindex_cmd, 'Reindexes one or more bag files.') 893 894 if argv is None: 895 argv = sys.argv 896 897 if '-h' in argv or '--help' in argv: 898 argv = [a for a in argv if a != '-h' and a != '--help'] 899 argv.insert(1, 'help') 900 901 if len(argv) > 1: 902 cmd = argv[1] 903 else: 904 cmd = 'help' 905 906 try: 907 if cmd in cmds: 908 cmds[cmd](argv[2:]) 909 else: 910 cmds['help']([cmd]) 911 except KeyboardInterrupt: 912 pass

913

Source Code for Module rosbag.rosbag_main