From 8c20436c2b48e8a647b7609b865c2244b5c47ff0 Mon Sep 17 00:00:00 2001
From: Max Schwarz <max.schwarz@online.de>
Date: Mon, 19 Feb 2024 15:53:08 +0100
Subject: [PATCH] cmd_play: basic topic information in status message

---
 rosbag_fancy/src/cmd_play.cpp             | 34 ++++++++---------------
 rosbag_fancy_msgs/CMakeLists.txt          |  1 +
 rosbag_fancy_msgs/msg/PlayStatus.msg      |  2 +-
 rosbag_fancy_msgs/msg/PlayTopicStatus.msg |  5 ++++
 4 files changed, 18 insertions(+), 24 deletions(-)
 create mode 100644 rosbag_fancy_msgs/msg/PlayTopicStatus.msg

diff --git a/rosbag_fancy/src/cmd_play.cpp b/rosbag_fancy/src/cmd_play.cpp
index 789348a..3c02611 100644
--- a/rosbag_fancy/src/cmd_play.cpp
+++ b/rosbag_fancy/src/cmd_play.cpp
@@ -237,32 +237,20 @@ int play(const std::vector<std::string>& options)
 		msg->current = currentTime-startTime;
 		msg->duration = endTime-startTime;
 
-		for(const auto & bag : bags)
+		msg->bagfiles.reserve(bags.size());
+		for(const auto& bag : bags)
 			msg->bagfiles.emplace_back(bag.filename_);
 
+		msg->topics.reserve(topicManager.topics().size());
+		for(const auto& topic : topicManager.topics())
+		{
+			msg->topics.emplace_back();
+			auto& topicMsg = msg->topics.back();
 
-		// TODO: fill some of this information
-
-//		auto& counts = writer.messageCounts();
-
-//		for(auto& topic : topicManager.topics())
-//		{
-//			msg->topics.emplace_back();
-//			auto& topicMsg = msg->topics.back();
-
-//			msg->bandwidth += topic.bandwidth;
-
-//			topicMsg.name = topic.name;
-//			topicMsg.publishers = topic.numPublishers;
-//			topicMsg.bandwidth = topic.bandwidth;
-//			topicMsg.bytes = topic.totalBytes;
-//			topicMsg.messages = topic.totalMessages;
-
-//			if(topic.id < counts.size())
-//				topicMsg.messages_in_current_bag = counts[topic.id];
-
-//			topicMsg.rate = topic.messageRateAt(now);
-//		}
+			topicMsg.name = topic.name;
+			topicMsg.bandwidth = topic.bandwidth;
+			topicMsg.rate = topic.messageRate;
+		}
 
 		pub_status.publish(msg);
 	}));
diff --git a/rosbag_fancy_msgs/CMakeLists.txt b/rosbag_fancy_msgs/CMakeLists.txt
index be617fc..de87545 100644
--- a/rosbag_fancy_msgs/CMakeLists.txt
+++ b/rosbag_fancy_msgs/CMakeLists.txt
@@ -11,6 +11,7 @@ add_message_files(FILES
     Status.msg
     TopicStatus.msg
     PlayStatus.msg
+    PlayTopicStatus.msg
 )
 
 generate_messages(DEPENDENCIES
diff --git a/rosbag_fancy_msgs/msg/PlayStatus.msg b/rosbag_fancy_msgs/msg/PlayStatus.msg
index 42ef9fc..b44f5a4 100644
--- a/rosbag_fancy_msgs/msg/PlayStatus.msg
+++ b/rosbag_fancy_msgs/msg/PlayStatus.msg
@@ -13,5 +13,5 @@ time startTime
 time endTime
 string[] bagfiles
 
-TopicStatus[] topics
+PlayTopicStatus[] topics
 
diff --git a/rosbag_fancy_msgs/msg/PlayTopicStatus.msg b/rosbag_fancy_msgs/msg/PlayTopicStatus.msg
new file mode 100644
index 0000000..d5710de
--- /dev/null
+++ b/rosbag_fancy_msgs/msg/PlayTopicStatus.msg
@@ -0,0 +1,5 @@
+
+string name
+
+float32 rate
+float32 bandwidth