Added bag start time, and a way to update it (#84)

* Added bag start time, and a way to update it * Added StartTime-test Co-authored-by: Juni <junitrigger@gmail.com>
RevolveNTNU · Mar 18, 2022 · be4b433 · be4b433
1 parent 71178a2
commit be4b433
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Showing 7 changed files with 30 additions and 3 deletions.
diff --git a/RosNet.Test/ApiTests.cs b/RosNet.Test/ApiTests.cs
@@ -20,7 +20,7 @@ public static string GetTestPath(string relativePath)
     [Fact]
     public void TestGetConnectionFields()
     {
-        string path = GetTestPath("TestBag.bag");
+        string path = GetTestPath("ApiTestBag.bag");
         RosBag rosBag = new RosBag(path);
         rosBag.Read();
         Dictionary<string, List<string>> fields = rosBag.GetConnectionFields();
@@ -34,7 +34,7 @@ public void TestGetConnectionFields()
     [Fact]
     public void TestGetTimeSeries()
     {
-        string path = GetTestPath("TestBag.bag");
+        string path = GetTestPath("ApiTestBag.bag");
         RosBag rosBag = new RosBag(path);
         rosBag.Read();
         List<(Time, FieldValue)> timeSeries = rosBag.GetTimeSeries("/amk/motor_moment", "FL_motor_moment");

diff --git a/RosNet.Test/DataModelTests.cs b/RosNet.Test/DataModelTests.cs
@@ -16,4 +16,15 @@ public void TestToDateTime()
         // 1 tick is 100 nano seconds
         Assert.Equal(test.ToDateTime(), new DateTime(2022, 02, 15, 14, 35, 8).AddSeconds(epochNano * Math.Pow(10, -9)));
     }
+
+    [Fact]
+    public void TestBagStartTime()
+    {
+        string path = ApiTests.GetTestPath("DataModelTestBag.bag");
+        RosBag rosBag = new RosBag(path);
+        rosBag.Read();
+        Assert.Equal(new Time(1622060004, 130476520), rosBag.BagStartTime);
+
+
+    }
 }
diff --git a/RosNet.Test/TestBags/TestBag.bag → RosNet.Test/TestBags/ApiTestBag.bag b/RosNet.Test/TestBags/TestBag.bag → RosNet.Test/TestBags/ApiTestBag.bag
diff --git a/RosNet.Test/TestBags/DataModelTestBag.bag b/RosNet.Test/TestBags/DataModelTestBag.bag
diff --git a/RosNet/DataModel/Message.cs b/RosNet/DataModel/Message.cs
@@ -10,7 +10,7 @@ public class Message
 {
     //Header fields of message record:
     public int Conn { get; }
-    public Time TimeStamp { get;  }
+    public Time TimeStamp { get; }
 
     //Data in message record:
     public ReadOnlyDictionary<string,FieldValue> Data { get; internal set; }

diff --git a/RosNet/DataModel/RosBag.cs b/RosNet/DataModel/RosBag.cs
@@ -10,6 +10,7 @@ public class RosBag
 {
     public Dictionary<int, Connection> Connections { get; private set; } //List of connection records in rosbag
     public string Path { get; private set; }
+    public Time BagStartTime { get; private set; }
     private RosBagReader _rosBagReader;
 
     /// <summary>
@@ -20,6 +21,7 @@ public RosBag(string path)
         this.Connections = new Dictionary<int, Connection>();
         this.Path = path;
         this._rosBagReader = new RosBagReader();
+        this.BagStartTime = new Time(uint.MaxValue, uint.MaxValue);
     }
 
     /// <summary>
@@ -104,4 +106,17 @@ public Dictionary<string, List<string>> GetConnectionFields()
 
         return timeSeries;
     }
+
+    /// <summary>
+    /// Sets the bag start time to the variable "time", if this is lower
+    /// than the current bag start time
+    /// </summary>
+    /// <param name="time">The Time object that might be the new bag start time</param>
+    internal void SetBagStartTime(Time time)
+    {
+        if (time.CompareTo(BagStartTime) < 0)
+        {
+            BagStartTime = time;
+        }
+    }
 }
diff --git a/RosNet/RosReader/UnParsedMessageHandler.cs b/RosNet/RosReader/UnParsedMessageHandler.cs
@@ -48,6 +48,7 @@ public void ParseMessages(RosBag rosBag)
             {
                 message.Data = new ReadOnlyDictionary<string, FieldValue>(messageDataParser.ParseMessageData(data, kvp.Value.MessageDefinition));
                 rosBag.Connections[message.Conn].Messages.Add(message);
+                rosBag.SetBagStartTime(message.TimeStamp);
             }
             UnParsedMessageByConn.Remove(kvp.Key);
         }