Add convert verb

ros2bag/ros2bag/verb/convert.py

@@ -0,0 +1,84 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import datetime
+import os
+
+from ros2bag.verb import VerbExtension
+
+
+class ConvertVerb(VerbExtension):
+    """ros2 bag convert."""
+
+    def add_arguments(self, parser, cli_name):  # noqa: D102
+        parser.add_argument(
+            'bag_file', help='bag file to convert')
+        parser.add_argument(
+            '-o', '--output',
+            help='destination of the bagfile to create, \
+            defaults to a timestamped folder in the current directory')
+        parser.add_argument(
+            '-s', '--storage', default='sqlite3',
+            help='storage identifier to be used for the input bag, defaults to "sqlite3"')
+        parser.add_argument(
+            '--out-storage', default='sqlite3',
+            help='storage identifier to be used for the output bag, defaults to "sqlite3"')
+        parser.add_argument(
+            '-f', '--serialization-format', default='',
+            help='rmw serialization format in which the messages are saved, defaults to the'
+                 ' rmw currently in use')
+        parser.add_argument(
+            '--compression-mode', type=str, default='none',
+            choices=['none', 'file', 'message'],
+            help='Determine whether to compress by file or message. Default is "none".')
+        parser.add_argument(
+            '--compression-format', type=str, default='', choices=['zstd'],
+            help='Specify the compression format/algorithm. Default is none.')
+
+    def create_bag_directory(self, uri):
+        try:
+            os.makedirs(uri)
+        except OSError:
+            return "[ERROR] [ros2bag]: Could not create bag folder '{}'.".format(uri)
+
+    def main(self, *, args):  # noqa: D102
+        bag_file = args.bag_file
+        if not os.path.exists(bag_file):
+            return "[ERROR] [ros2bag] bag file '{}' does not exist!".format(bag_file)
+
+        if args.compression_format and args.compression_mode == 'none':
+            return 'Invalid choice: Cannot specify compression format without a compression mode.'
+        args.compression_mode = args.compression_mode.upper()
+
+        uri = args.output or datetime.datetime.now().strftime('rosbag2_%Y_%m_%d-%H_%M_%S')
+        self.create_bag_directory(uri)
+
+        # NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
+        #               combined with constrained environments (as imposed by colcon test)
+        #               may result in DLL loading failures when attempting to import a C
+        #               extension. Therefore, do not import rosbag2_transport at the module
+        #               level but on demand, right before first use.
+        from rosbag2_transport import rosbag2_transport_py
+
+        rosbag2_transport_py.convert(
+            in_uri=bag_file,
+            in_storage_id=args.storage,
+            out_uri=uri,
+            out_storage_id=args.out_storage,
+            serialization_format=args.serialization_format,
+            compression_mode=args.compression_mode,
+            compression_format=args.compression_format)
+
+        if os.path.isdir(uri) and not os.listdir(uri):
+            os.rmdir(uri)

ros2bag/setup.py

@@ -41,6 +41,7 @@
             'info = ros2bag.verb.info:InfoVerb',
             'play = ros2bag.verb.play:PlayVerb',
             'record = ros2bag.verb.record:RecordVerb',
+            'convert = ros2bag.verb.convert:ConvertVerb',
         ],
     }
 )

rosbag2_transport/CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(rosbag2_cpp REQUIRED)
 find_package(shared_queues_vendor REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
+  src/rosbag2_transport/converter.cpp
   src/rosbag2_transport/player.cpp
   src/rosbag2_transport/formatter.cpp
   src/rosbag2_transport/generic_publisher.cpp
@@ -100,6 +101,14 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_info rosbag2_test_common)
   endif()
 
+  ament_add_gmock(test_convert
+    test/rosbag2_transport/test_convert.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_convert)
+    target_link_libraries(test_convert rosbag2_transport)
+    ament_target_dependencies(test_convert test_msgs rosbag2_test_common)
+  endif()
+
   ament_add_gmock(test_record_all
     test/rosbag2_transport/test_record_all.cpp
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

rosbag2_transport/include/rosbag2_transport/convert_options.hpp

@@ -0,0 +1,34 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSBAG2_TRANSPORT__CONVERT_OPTIONS_HPP_
+#define ROSBAG2_TRANSPORT__CONVERT_OPTIONS_HPP_
+
+#include <chrono>
+#include <string>
+#include <vector>
+
+namespace rosbag2_transport
+{
+struct ConvertOptions
+{
+public:
+  std::string rmw_serialization_format;
+  std::string compression_mode = "";
+  std::string compression_format = "";
+};
+
+}  // namespace rosbag2_transport
+
+#endif  // ROSBAG2_TRANSPORT__CONVERT_OPTIONS_HPP_

rosbag2_transport/include/rosbag2_transport/rosbag2_transport.hpp

@@ -20,6 +20,7 @@
 #include <string>
 #include <vector>
 
+#include "rosbag2_transport/convert_options.hpp"
 #include "rosbag2_transport/play_options.hpp"
 #include "rosbag2_transport/record_options.hpp"
 #include "rosbag2_transport/storage_options.hpp"
@@ -76,6 +77,18 @@ class Rosbag2Transport
   ROSBAG2_TRANSPORT_PUBLIC
   void play(const StorageOptions & storage_options, const PlayOptions & play_options);
 
+  /**
+   * Convert a bagfile from one storage to another.
+   *
+   * \param input_storage_options Options regarding the input storage (e.g. input bag file name)
+   * \param output_storage_options Options regarding the output storage (e.g. bag file name)
+   */
+  ROSBAG2_TRANSPORT_PUBLIC
+  void convert(
+    const StorageOptions & input_storage_options,
+    const StorageOptions & output_storage_options,
+    const ConvertOptions & convert_options);
+
   /**
    * Print the bag info contained in the metadata yaml file.
    *

rosbag2_transport/src/rosbag2_transport/converter.cpp

@@ -0,0 +1,43 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+#include <utility>
+#include <string>
+#include "converter.hpp"
+
+#include "rosbag2_cpp/reader.hpp"
+#include "rosbag2_cpp/writer.hpp"
+#include "rosbag2_transport/logging.hpp"
+
+namespace rosbag2_transport
+{
+Converter::Converter(
+  std::shared_ptr<rosbag2_cpp::Reader> reader,
+  std::shared_ptr<rosbag2_cpp::Writer> writer)
+: reader_(std::move(reader)), writer_(std::move(writer)) {}
+
+void Converter::convert(std::string serialization_format)
+{
+  for (auto topic : reader_->get_all_topics_and_types()) {
+    topic.serialization_format = serialization_format;
+    writer_->create_topic(topic);
+  }
+  while (reader_->has_next()) {
+    auto msg = reader_->read_next();
+    writer_->write(msg);
+  }
+}
+
+}  // namespace rosbag2_transport

rosbag2_transport/src/rosbag2_transport/converter.hpp

@@ -0,0 +1,56 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSBAG2_TRANSPORT__CONVERTER_HPP_
+#define ROSBAG2_TRANSPORT__CONVERTER_HPP_
+
+#include <future>
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
+#include "rosbag2_cpp/types.hpp"
+#include "rosbag2_cpp/reader.hpp"
+#include "rosbag2_cpp/writer.hpp"
+#include "rosbag2_transport/storage_options.hpp"
+
+namespace rosbag2
+{
+class Writer;
+class Reader;
+}
+
+namespace rosbag2_transport
+{
+
+class Converter
+{
+public:
+  explicit Converter(
+    std::shared_ptr<rosbag2_cpp::Reader> reader,
+    std::shared_ptr<rosbag2_cpp::Writer> writer);
+
+  void convert(std::string serialization_format);
+
+private:
+  std::shared_ptr<rosbag2_cpp::Reader> reader_;
+  std::shared_ptr<rosbag2_cpp::Writer> writer_;
+};
+
+}  // namespace rosbag2_transport
+
+#endif  // ROSBAG2_TRANSPORT__CONVERTER_HPP_

rosbag2_transport/src/rosbag2_transport/rosbag2_transport.cpp

@@ -33,6 +33,7 @@
 
 #include "rosbag2_transport/logging.hpp"
 
+#include "converter.hpp"
 #include "formatter.hpp"
 #include "player.hpp"
 #include "recorder.hpp"
@@ -104,6 +105,24 @@ void Rosbag2Transport::play(
   }
 }
 
+void Rosbag2Transport::convert(
+  const StorageOptions & input_storage_options,
+  const StorageOptions & output_storage_options,
+  const ConvertOptions & convert_options)
+{
+  try {
+    reader_->open(input_storage_options, {"", convert_options.rmw_serialization_format});
+    writer_->open(
+      output_storage_options,
+      {convert_options.rmw_serialization_format, convert_options.rmw_serialization_format});
+
+    Converter converter(reader_, writer_);
+    converter.convert(convert_options.rmw_serialization_format);
+  } catch (std::runtime_error & e) {
+    ROSBAG2_TRANSPORT_LOG_ERROR("Failed to convert: %s", e.what());
+  }
+}
+
 void Rosbag2Transport::print_bag_info(const std::string & uri, const std::string & storage_id)
 {
   rosbag2_storage::BagMetadata metadata;