info: display compression

xqms · Dec 9, 2022 · 422684f · 422684f
1 parent fef5437
commit 422684f
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Showing 3 changed files with 34 additions and 0 deletions.
diff --git a/rosbag_fancy/src/bag_reader.cpp b/rosbag_fancy/src/bag_reader.cpp
@@ -19,6 +19,7 @@
 #include <std_msgs/Header.h>
 #include <std_msgs/UInt8.h>
 #include "doctest.h"
+#include "rosbag/stream.h"
 
 namespace
 {
@@ -585,6 +586,21 @@ std::vector<BagReader::ConnectionInfo>& BagReader::Iterator::currentChunkConnect
 	return m_reader->m_d->chunks[m_chunk].connectionInfos;
 }
 
+rosbag::CompressionType BagReader::Iterator::currentChunkCompression() const
+{
+	switch(m_it.m_d->m_compression)
+	{
+		case ChunkIterator::Private::Compression::None:
+			return rosbag::compression::Uncompressed;
+		case ChunkIterator::Private::Compression::BZ2:
+			return rosbag::compression::BZ2;
+		case ChunkIterator::Private::Compression::LZ4:
+			return rosbag::compression::LZ4;
+	}
+
+	throw std::logic_error{"unknown compression"};
+}
+
 
 BagReader::BagReader(const std::string& filename)
  : m_d{std::make_unique<Private>(filename)}

diff --git a/rosbag_fancy/src/bag_reader.h b/rosbag_fancy/src/bag_reader.h
@@ -11,6 +11,8 @@
 #include <ros/time.h>
 #include <ros/serialization.h>
 
+#include <rosbag/stream.h>
+
 #include <boost/make_shared.hpp>
 
 namespace rosbag_fancy
@@ -145,6 +147,8 @@ class BagReader
 		friend bool operator!= (const Iterator& a, const Iterator& b) { return a.m_chunk != b.m_chunk || a.m_it != b.m_it; };
 
 		std::vector<ConnectionInfo>& currentChunkConnections() const;
+		rosbag::CompressionType currentChunkCompression() const;
+
 		void skipChunk();
 		int chunk() const
 		{ return m_chunk; }

diff --git a/rosbag_fancy/src/cmd_info.cpp b/rosbag_fancy/src/cmd_info.cpp
@@ -11,6 +11,7 @@
 
 #include "bag_reader.h"
 #include "mem_str.h"
+#include "rosbag/stream.h"
 
 namespace po = boost::program_options;
 using namespace rosbag_fancy;
@@ -99,6 +100,19 @@ int info(const std::vector<std::string>& options)
 	fmt::print("Duration:       {:%H:%M:%S} ({:.2f}s)\n", duration, (reader.endTime() - reader.startTime()).toSec());
 	fmt::print("Size:           {}\n", mem_str::memoryToString(reader.size()));
 
+	auto it = reader.begin();
+	if(it != reader.end())
+	{
+		fmt::print("Compression:    ");
+		switch(it.currentChunkCompression())
+		{
+			case rosbag::compression::Uncompressed: fmt::print("Uncompressed\n"); break;
+			case rosbag::compression::BZ2: fmt::print("BZ2\n"); break;
+			case rosbag::compression::LZ4: fmt::print("LZ4\n"); break;
+			default: fmt::print("unknown\n");
+		}
+	}
+
 	fmt::print("Types:\n");
 	std::map<std::string, std::set<std::string>> types;
 	for(auto& con : reader.connections())