Inheritance diagram for grepros.plugins.mcap.McapBag:

Public Member Functions
def	__contains__ (self, key)

def	__init__ (self, f, mode="r", **__)

def	__next__ (self)

def	autodetect (cls, f)

def	close (self)

def	closed (self)

def	filename (self)

def	get_end_time (self)

def	get_message_class (self, typename, typehash=None)

def	get_message_count (self, topic_filters=None)

def	get_message_definition (self, msg_or_type)

def	get_message_type_hash (self, msg_or_type)

def	get_qoses (self, topic, typename)

def	get_start_time (self)

def	get_topic_info (self, _, *__)

def	get_type_and_topic_info (self, topic_filters=None)

def	mode (self)

def	open (self)

def	read_messages (self, topics=None, start_time=None, end_time=None, raw=False)

def	size (self)

def	topics (self)

def	write (self, topic, msg, t=None, raw=False, **__)

Public Member Functions inherited from grepros.api.BaseBag
def	__bool__ (self)

def	__copy__ (self)

def	__deepcopy__ (self, memo=None)

def	__enter__ (self)

def	__exit__ (self, exc_type, exc_value, traceback)

def	__getitem__ (self, key)

def	__iter__ (self)

def	__len__ (self)

def	__nonzero__ (self)

def	__str__ (self)

def	flush (self)

def	get_topic_info (self, counts=True)

def	read_messages (self, topics=None, start_time=None, end_time=None, raw=False, **__)

def	stop_on_error (self)

def	stop_on_error (self, flag)

Public Attributes
	get_fields_and_field_types

	SLOT_TYPES

Static Public Attributes
string	MCAP_MAGIC = b"\x89MCAP\x30\r\n"
	MCAP file header magic start bytes. More...

tuple	MODES = ("r", "w")
	Supported opening modes. More...

Static Public Attributes inherited from grepros.api.BaseBag
	BagMessage = collections.namedtuple("BagMessage", "topic message timestamp")
	Returned from read_messages() as (topic name, ROS message, ROS timestamp object). More...

tuple	MODES = ("r", "w", "a")
	Supported opening modes, overridden in subclasses. More...

	next

bool	STREAMABLE = True
	Whether bag supports reading or writing stream objects, overridden in subclasses. More...

	TopicTuple
	Returned from get_type_and_topic_info() as (typename, message count, connection count, median frequency). More...

	TypesAndTopicsTuple = collections.namedtuple("TypesAndTopicsTuple", ["msg_types", "topics"])
	Returned from get_type_and_topic_info() as ({typename: typehash}, {topic name: TopicTuple}). More...

Private Member Functions
def	_decode_message (self, message, channel, schema)

def	_make_message_class (self, schema, message, generate=True)

def	_patch_message (self, message, typename, typehash)

def	_patch_message_class (self, cls, typename, typehash)

def	_populate_meta (self)

Private Attributes
	__copy__

	__deepcopy__

	__module__

	_decoder

	_end_time

	_field_subtypes

	_fields_and_field_types

	_file

	_filename

	_iterer

	_mode

	_opened

	_qoses

	_reader

	_schemas

	_schematypes

	_start_time

	_temporal_ctors

	_topics

	_ttinfo

	_type_subtypes

	_typedefs

	_typefields

	_types

	_writer

Detailed Description

MCAP bag interface, providing most of rosbag.Bag interface.

Bag cannot be appended to, and cannot be read and written at the same time
(MCAP API limitation).

Definition at line 41 of file mcap.py.

Constructor & Destructor Documentation

◆ init()

def grepros.plugins.mcap.McapBag.__init__	(		self,
			f,
			mode = `"r"`,
		**	__
	)

Opens file and populates metadata.

@param   f         bag file path, or a stream object
@param   mode      return reader if "r" or writer if "w"

Definition at line 55 of file mcap.py.

Member Function Documentation

◆ contains()

def grepros.plugins.mcap.McapBag.__contains__	(	self,
		key
	)

Returns whether bag contains given topic.

Reimplemented from grepros.api.BaseBag.

Definition at line 347 of file mcap.py.

◆ next()

def grepros.plugins.mcap.McapBag.__next__ ( self )

Retrieves next message from bag as (topic, message, timestamp).

Reimplemented from grepros.api.BaseBag.

Definition at line 352 of file mcap.py.

◆ _decode_message()

def grepros.plugins.mcap.McapBag._decode_message	(	self,
		message,
		channel,
		schema
	)

private

Returns ROS message deserialized from binary data.

@param   message  mcap.records.Message instance
@param   channel  mcap.records.Channel instance for message
@param   schema   mcap.records.Schema instance for message type

Definition at line 359 of file mcap.py.

◆ _make_message_class()

def grepros.plugins.mcap.McapBag._make_message_class	(	self,
		schema,
		message,
		generate = `True`
	)

private

Returns message type class, generating if not already available.

@param   schema    mcap.records.Schema instance for message type
@param   message   mcap.records.Message instance
@param   generate  generate message class dynamically if not available

Definition at line 381 of file mcap.py.

◆ _patch_message()

def grepros.plugins.mcap.McapBag._patch_message	(	self,
		message,
		typename,
		typehash
	)

private

Patches MCAP ROS2 message with expected attributes and methods, recursively.

@param   message   ROS message instance as returned from mcap_ros2.decoder
@param   typename  ROS message type name, like "std_msgs/Bool"
@param   typehash  ROS message type hash
@return            original message patched, or new instance if ROS2 temporal type

Definition at line 436 of file mcap.py.

◆ _patch_message_class()

def grepros.plugins.mcap.McapBag._patch_message_class	(	self,
		cls,
		typename,
		typehash
	)

private

Patches MCAP ROS2 message class with expected attributes and methods, recursively.

@param   cls       ROS message class as returned from mcap_ros2.decoder
@param   typename  ROS message type name, like "std_msgs/Bool"
@param   typehash  ROS message type hash
@return            patched class

Definition at line 406 of file mcap.py.

◆ _populate_meta()

def grepros.plugins.mcap.McapBag._populate_meta ( self )

private

Populates bag metainfo.

Definition at line 472 of file mcap.py.

◆ autodetect()

def grepros.plugins.mcap.McapBag.autodetect	(	cls,
		f
	)

Returns whether file is readable as MCAP format.

Definition at line 519 of file mcap.py.

◆ close()

def grepros.plugins.mcap.McapBag.close ( self )

Closes the bag file.

Reimplemented from grepros.api.BaseBag.

Definition at line 305 of file mcap.py.

◆ closed()

def grepros.plugins.mcap.McapBag.closed ( self )

Returns whether file is closed.

Reimplemented from grepros.api.BaseBag.

Definition at line 314 of file mcap.py.

◆ filename()

def grepros.plugins.mcap.McapBag.filename ( self )

Returns bag file path.

Reimplemented from grepros.api.BaseBag.

Definition at line 326 of file mcap.py.

◆ get_end_time()

def grepros.plugins.mcap.McapBag.get_end_time ( self )

Returns the end time of the bag, as UNIX timestamp.

Reimplemented from grepros.api.BaseBag.

Definition at line 121 of file mcap.py.

◆ get_message_class()

def grepros.plugins.mcap.McapBag.get_message_class	(	self,
		typename,
		typehash = `None`
	)

Returns ROS message class for typename, or None if unknown type.

@param   typehash  message type definition hash, if any

Reimplemented from grepros.api.BaseBag.

Definition at line 126 of file mcap.py.

◆ get_message_count()

def grepros.plugins.mcap.McapBag.get_message_count	(	self,
		topic_filters = `None`
	)

Returns the number of messages in the bag.

@param   topic_filters  list of topics or a single topic to filter by, if any

Reimplemented from grepros.api.BaseBag.

Definition at line 103 of file mcap.py.

◆ get_message_definition()

def grepros.plugins.mcap.McapBag.get_message_definition	(	self,
		msg_or_type
	)

Returns ROS message type definition full text from bag, including subtype definitions.

Reimplemented from grepros.api.BaseBag.

Definition at line 150 of file mcap.py.

◆ get_message_type_hash()

def grepros.plugins.mcap.McapBag.get_message_type_hash	(	self,
		msg_or_type
	)

Returns ROS message type MD5 hash.

Reimplemented from grepros.api.BaseBag.

Definition at line 159 of file mcap.py.

◆ get_qoses()

def grepros.plugins.mcap.McapBag.get_qoses	(	self,
		topic,
		typename
	)

Returns topic Quality-of-Service profiles as a list of dicts, or None if not available.

Reimplemented from grepros.api.BaseBag.

Definition at line 166 of file mcap.py.

◆ get_start_time()

def grepros.plugins.mcap.McapBag.get_start_time ( self )

Returns the start time of the bag, as UNIX timestamp.

Reimplemented from grepros.api.BaseBag.

Definition at line 116 of file mcap.py.

◆ get_topic_info()

def grepros.plugins.mcap.McapBag.get_topic_info	(		self,
		*	_,
		**	__
	)

Returns topic and message type metainfo as {(topic, typename, typehash): count}.

Definition at line 171 of file mcap.py.

◆ get_type_and_topic_info()

def grepros.plugins.mcap.McapBag.get_type_and_topic_info	(	self,
		topic_filters = `None`
	)

Returns thorough metainfo on topic and message types.

@param   topic_filters  list of topics or a single topic to filter returned topics-dict by,
                if any
@return                 TypesAndTopicsTuple(msg_types, topics) namedtuple,
                msg_types as dict of {typename: typehash},
                topics as a dict of {topic: TopicTuple() namedtuple}.

Reimplemented from grepros.api.BaseBag.

Definition at line 176 of file mcap.py.

◆ mode()

def grepros.plugins.mcap.McapBag.mode ( self )

Returns file open mode.

Reimplemented from grepros.api.BaseBag.

Definition at line 342 of file mcap.py.

◆ open()

def grepros.plugins.mcap.McapBag.open ( self )

Opens the bag file if not already open.

Reimplemented from grepros.api.BaseBag.

Definition at line 291 of file mcap.py.

◆ read_messages()

def grepros.plugins.mcap.McapBag.read_messages	(	self,
		topics = `None`,
		start_time = `None`,
		end_time = `None`,
		raw = `False`
	)

Yields messages from the bag, optionally filtered by topic and timestamp.

@param   topics      list of topics or a single topic to filter by, if at all
@param   start_time  earliest timestamp of message to return, as ROS time or convertible
             (int/float/duration/datetime/decimal)
@param   end_time    latest timestamp of message to return, as ROS time or convertible
             (int/float/duration/datetime/decimal)
@param   raw         if true, then returned messages are tuples of
             (typename, bytes, typehash, typeclass)
@return              BagMessage namedtuples of 
             (topic, message, timestamp as rospy/rclpy.Time)

Definition at line 216 of file mcap.py.

◆ size()

def grepros.plugins.mcap.McapBag.size ( self )

Returns current file size.

Reimplemented from grepros.api.BaseBag.

Definition at line 332 of file mcap.py.

◆ topics()

def grepros.plugins.mcap.McapBag.topics ( self )

Returns the list of topics in bag, in alphabetic order.

Reimplemented from grepros.api.BaseBag.

Definition at line 320 of file mcap.py.

◆ write()

def grepros.plugins.mcap.McapBag.write	(		self,
			topic,
			msg,
			t = `None`,
			raw = `False`,
		**	__
	)

Writes out message to MCAP file.

@param   topic   name of topic
@param   msg     ROS1 message
@param   t       message timestamp if not using current ROS time,
         as ROS time type or convertible (int/float/duration/datetime/decimal)
@param   raw     if true, `msg` is in raw format, (typename, bytes, typehash, typeclass)

Reimplemented from grepros.api.BaseBag.

Definition at line 247 of file mcap.py.

Member Data Documentation

◆ copy

grepros.plugins.mcap.McapBag.__copy__

private

Definition at line 430 of file mcap.py.

◆ deepcopy

grepros.plugins.mcap.McapBag.__deepcopy__

private

Definition at line 431 of file mcap.py.

◆ module

grepros.plugins.mcap.McapBag.__module__

private

Definition at line 426 of file mcap.py.

◆ _decoder

grepros.plugins.mcap.McapBag._decoder

private

Definition at line 78 of file mcap.py.

◆ _end_time

grepros.plugins.mcap.McapBag._end_time

private

Definition at line 75 of file mcap.py.

◆ _field_subtypes

grepros.plugins.mcap.McapBag._field_subtypes

private

Definition at line 72 of file mcap.py.

◆ _fields_and_field_types

grepros.plugins.mcap.McapBag._fields_and_field_types

private

Definition at line 428 of file mcap.py.

◆ _file

grepros.plugins.mcap.McapBag._file

private

Definition at line 76 of file mcap.py.

◆ _filename

grepros.plugins.mcap.McapBag._filename

private

Definition at line 83 of file mcap.py.

◆ _iterer

grepros.plugins.mcap.McapBag._iterer

private

Definition at line 80 of file mcap.py.

◆ _mode

grepros.plugins.mcap.McapBag._mode

private

Definition at line 63 of file mcap.py.

◆ _opened

grepros.plugins.mcap.McapBag._opened

private

Definition at line 82 of file mcap.py.

◆ _qoses

grepros.plugins.mcap.McapBag._qoses

private

Definition at line 69 of file mcap.py.

◆ _reader

grepros.plugins.mcap.McapBag._reader

private

Definition at line 77 of file mcap.py.

◆ _schemas

grepros.plugins.mcap.McapBag._schemas

private

Definition at line 67 of file mcap.py.

◆ _schematypes

grepros.plugins.mcap.McapBag._schematypes

private

Definition at line 68 of file mcap.py.

◆ _start_time

grepros.plugins.mcap.McapBag._start_time

private

Definition at line 74 of file mcap.py.

◆ _temporal_ctors

grepros.plugins.mcap.McapBag._temporal_ctors

private

Definition at line 73 of file mcap.py.

◆ _topics

grepros.plugins.mcap.McapBag._topics

private

Definition at line 64 of file mcap.py.

◆ _ttinfo

grepros.plugins.mcap.McapBag._ttinfo

private

Definition at line 81 of file mcap.py.

◆ _type_subtypes

grepros.plugins.mcap.McapBag._type_subtypes

private

Definition at line 71 of file mcap.py.

◆ _typedefs

grepros.plugins.mcap.McapBag._typedefs

private

Definition at line 66 of file mcap.py.

◆ _typefields

grepros.plugins.mcap.McapBag._typefields

private

Definition at line 70 of file mcap.py.

◆ _types

grepros.plugins.mcap.McapBag._types

private

Definition at line 65 of file mcap.py.

◆ _writer

grepros.plugins.mcap.McapBag._writer

private

Definition at line 79 of file mcap.py.

◆ get_fields_and_field_types

grepros.plugins.mcap.McapBag.get_fields_and_field_types

Definition at line 429 of file mcap.py.

◆ MCAP_MAGIC

string grepros.plugins.mcap.McapBag.MCAP_MAGIC = b"\x89MCAP\x30\r\n"

static

MCAP file header magic start bytes.

Definition at line 53 of file mcap.py.

◆ MODES

tuple grepros.plugins.mcap.McapBag.MODES = ("r", "w")

static

Supported opening modes.

Definition at line 50 of file mcap.py.

◆ SLOT_TYPES

grepros.plugins.mcap.McapBag.SLOT_TYPES

Definition at line 427 of file mcap.py.

The documentation for this class was generated from the following file:

mcap.py

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ __contains__()

◆ __next__()

◆ _decode_message()

◆ _make_message_class()

◆ _patch_message()

◆ _patch_message_class()

◆ _populate_meta()

◆ autodetect()

◆ close()

◆ closed()

◆ filename()

◆ get_end_time()

◆ get_message_class()

◆ get_message_count()

◆ get_message_definition()

◆ get_message_type_hash()

◆ get_qoses()

◆ get_start_time()

◆ get_topic_info()

◆ get_type_and_topic_info()

◆ mode()

◆ open()

◆ read_messages()

◆ size()

◆ topics()

◆ write()

Member Data Documentation

◆ __copy__

◆ __deepcopy__

◆ __module__

◆ _decoder

◆ _end_time

◆ _field_subtypes

◆ _fields_and_field_types

◆ _file

◆ _filename

◆ _iterer

◆ _mode

◆ _opened

◆ _qoses

◆ _reader

◆ _schemas

◆ _schematypes

◆ _start_time

◆ _temporal_ctors

◆ _topics

◆ _ttinfo

◆ _type_subtypes

◆ _typedefs

◆ _typefields

◆ _types

◆ _writer

◆ get_fields_and_field_types

◆ MCAP_MAGIC

◆ MODES

◆ SLOT_TYPES

◆ init()

◆ contains()

◆ next()

◆ copy

◆ deepcopy

◆ module