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rm bag compress kwargs #897

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Merged
merged 2 commits into from
Jul 29, 2022
Merged

rm bag compress kwargs #897

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a2be1fd
rm bag compress kwargs
dehann Jul 29, 2022
4995420
better warn message
dehann Jul 29, 2022
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10 changes: 6 additions & 4 deletions src/ros/Utils/RosbagSubscriber.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,15 @@ mutable struct RosbagSubscriber
syncBuffer::Dict{Symbol,Tuple{DateTime, Int}} # t,ns,msgdata
nextMsgChl::Symbol
nextMsgTimestamp::Tuple{DateTime, Int}
compression::Any
# constructors
end
RosbagSubscriber(bagfile::AbstractString;
compression=nothing,
channels::Vector{Symbol}=Symbol[],
callbacks::Dict{Symbol,Function}=Dict{Symbol,Function}(),
readers::Dict{Symbol,PyObject}=Dict{Symbol,PyObject}(),
syncBuffer::Dict{Symbol,Tuple{DateTime, Int}}=Dict{Symbol,Tuple{DateTime, Int}}() ) = RosbagSubscriber(bagfile,channels,callbacks,readers,syncBuffer, :null, (unix2datetime(0),0))
syncBuffer::Dict{Symbol,Tuple{DateTime, Int}}=Dict{Symbol,Tuple{DateTime, Int}}() ) = RosbagSubscriber(bagfile,channels,callbacks,readers,syncBuffer, :null, (unix2datetime(0),0),compression)
#

# loss of accuracy (Julia only Millisecond)
Expand Down Expand Up @@ -97,8 +99,8 @@ function loop!(rbs::RosbagSubscriber, args...)
rbs.callbacks[rbs.nextMsgChl](msg, args...)
true
else
println("false, dont know how to handle message time as typeof(msgT)=$(typeof(msgT))")
@show msg
@warn "Unsure about decoding this topic:msg type pair, make sure the subscribed topic names are spelled exactly right." rbs.nextMsgChl msgT maxlog=10
# @show msg
false
end
end
Expand All @@ -114,5 +116,5 @@ function (rbs::RosbagSubscriber)( chl::AbstractString,
# include the type converter, see ref: https://github.com/jdlangs/RobotOS.jl/blob/21a7088461a21bc9b24cd2763254d5043d5b1800/src/callbacks.jl#L23
rbs.callbacks[cn] = (m)->callback(convert(MT,m[2]),args...)
rbs.syncBuffer[cn] = (unix2datetime(0), 0)
rbs.readers[cn] = RosbagParser(rbs.bagfile, chl)
rbs.readers[cn] = RosbagParser(rbs.bagfile, chl) #; rbs.compression)
end
4 changes: 2 additions & 2 deletions src/ros/Utils/rosbagReader.py
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Expand Up @@ -6,11 +6,11 @@
import sys

class RosbagParser:
def __init__(self, bag_file_name, topic_name):
def __init__(self, bag_file_name, topic_name): #, compression=None):
#bag_file_name = sys.argv[1]
#topic_name = sys.argv[2]

self.bag = rosbag.Bag(bag_file_name)
self.bag = rosbag.Bag(bag_file_name, 'r') #, compression=compression)
self.bag_contents = self.bag.read_messages(topics=[topic_name])

self.idx = 0
Expand Down