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Fix merge sort in bag export. #96

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merged 2 commits into from
Feb 18, 2021
Merged

Fix merge sort in bag export. #96

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57f6b4d
Fix merge sort in bag export.
MichaelGrupp Feb 17, 2021
8a969f6
Use itertools for legacy distro support...
MichaelGrupp Feb 17, 2021
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27 changes: 14 additions & 13 deletions rqt_bag/src/rqt_bag/bag_timeline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
# POSSIBILITY OF SUCH DAMAGE.

import heapq
import itertools
import rospy
import rosbag
import time
Expand Down Expand Up @@ -281,29 +282,29 @@ def get_entries_with_bags(self, topic, start_stamp, end_stamp):
:param topics: list of topics to query, ''list(str)''
:param start_stamp: stamp to start at, ''rospy.Time''
:param end_stamp: stamp to end at, ''rospy,Time''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.bag, msg)''
:returns: tuple of (bag, entry) for the entries in the bag file, ''(rosbag.Bag, rosbag.bag._IndexEntry)''
"""
with self._bag_lock:
from rosbag import bag # for _mergesort

bag_entries = []
bag_by_iter = {}
for b in self._bags:
bag_start_time = bag_helper.get_start_stamp(b)
for bag in self._bags:
bag_start_time = bag_helper.get_start_stamp(bag)
if bag_start_time is not None and bag_start_time > end_stamp:
continue

bag_end_time = bag_helper.get_end_stamp(b)
bag_end_time = bag_helper.get_end_stamp(bag)
if bag_end_time is not None and bag_end_time < start_stamp:
continue

connections = list(b._get_connections(topic))
it = iter(b._get_entries(connections, start_stamp, end_stamp))
bag_by_iter[it] = b
bag_entries.append(it)
connections = list(bag._get_connections(topic))
# We must keep track to which bag file handle each index entry
# belongs before merge sorting.
bag_entries.append([(bag, entry) for entry in sorted(
bag._get_entries(connections, start_stamp, end_stamp))])

for entry, it in bag._mergesort(bag_entries, key=lambda entry: entry.time):
yield bag_by_iter[it], entry
# TODO: replace sorted(itertools.chain(..), key..) by
# heapq.merge(.., key..) once Python 2.7 is not used anymore.
for bag_entry in sorted(itertools.chain(*bag_entries), key=lambda bag_entry: bag_entry[1].time):
yield bag_entry

def get_entry(self, t, topic):
"""
Expand Down