|
| | __init__ (self, f, mode="r", **__) |
| |
| | __contains__ (self, key) |
| |
| | __next__ (self) |
| |
| | autodetect (cls, f) |
| |
| | close (self) |
| |
| | closed (self) |
| |
| | filename (self) |
| |
| | get_end_time (self) |
| |
| | get_message_class (self, typename, typehash=None) |
| |
| | get_message_count (self, topic_filters=None) |
| |
| | get_message_definition (self, msg_or_type) |
| |
| | get_message_type_hash (self, msg_or_type) |
| |
| | get_qoses (self, topic, typename) |
| |
| | get_start_time (self) |
| |
| | get_topic_info (self, *_, **__) |
| |
| | get_type_and_topic_info (self, topic_filters=None) |
| |
| | mode (self) |
| |
| | open (self) |
| |
| | read_messages (self, topics=None, start_time=None, end_time=None, raw=False) |
| |
| | size (self) |
| |
| | topics (self) |
| |
| | write (self, topic, msg, t=None, raw=False, **__) |
| |
| | __bool__ (self) |
| |
| | __copy__ (self) |
| |
| | __deepcopy__ (self, memo=None) |
| |
| | __enter__ (self) |
| |
| | __exit__ (self, exc_type, exc_value, traceback) |
| |
| | __getitem__ (self, key) |
| |
| | __iter__ (self) |
| |
| | __len__ (self) |
| |
| | __nonzero__ (self) |
| |
| | __str__ (self) |
| |
| | flush (self) |
| |
| | stop_on_error (self) |
| |
| | stop_on_error (self, flag) |
| |
|
| str | MCAP_MAGIC = b"\x89MCAP\x30\r\n" |
| | MCAP file header magic start bytes.
|
| |
| tuple | MODES = ("r", "w") |
| | Supported opening modes.
|
| |
| | BagMessage = collections.namedtuple("BagMessage", "topic message timestamp") |
| | Returned from read_messages() as (topic name, ROS message, ROS timestamp object).
|
| |
| tuple | MODES = ("r", "w", "a") |
| | Supported opening modes, overridden in subclasses.
|
| |
| | next |
| |
| bool | STREAMABLE = True |
| | Whether bag supports reading or writing stream objects, overridden in subclasses.
|
| |
| | TopicTuple |
| | Returned from get_type_and_topic_info() as (typename, message count, connection count, median frequency).
|
| |
| | TypesAndTopicsTuple = collections.namedtuple("TypesAndTopicsTuple", ["msg_types", "topics"]) |
| | Returned from get_type_and_topic_info() as ({typename: typehash}, {topic name: TopicTuple}).
|
| |
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.
| 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 BaseBag.
Definition at line 176 of file mcap.py.
| 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)
Reimplemented from BaseBag.
Definition at line 216 of file mcap.py.
| 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 BaseBag.
Definition at line 247 of file mcap.py.
Public Member Functions inherited from BaseBag