Merge pull request #3 from 1hada/renaming-global_output_path-to-outpu…

…t_path

Renaming global output path to output path

.gitignore

@@ -1 +1 @@
-tests/MANUAL_TESTS
+tests/data/merged_bag.bag

README.md

@@ -25,9 +25,9 @@ Basic elements for usage are an in path and out path for data being processed an
 * Define an outbag name using the flag.
 
 ```--input_paths``` 
-* Define global input paths for the data of interest. (csv or bags)
+* Define input paths for the data of interest. (csv or bags)
 
-```--global_output_path```
+```--output_path```
 * Define where to save newly created data (csv or bags)
 
 ```--topics```
@@ -50,8 +50,8 @@ Basic elements for usage are an in path and out path for data being processed an
 ### Some environment variables
 
 ```
-export IN_PATH=/global/path/to/data
-export OUT_PATH=/global/path/to/data
+export IN_PATH=/path/to/data
+export OUT_PATH=/path/to/data
 export OUTBAG_NAME=new-bag-name
 export INPUT_TOPICS='/topic/namespace_1 /topic/namespace_2 /topic/namespace_3'
 ```
@@ -65,34 +65,34 @@ rosbag-merge --write_bag --outbag_name $OUTBAG_NAME
 
 Make a merged bage with all topics.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag
 ```
 
 To merge bag files with select topics, and make single topics csvs.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --topics $INPUT_TOPICS --write_bag 
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH --outbag_name $OUTBAG_NAME --topics $INPUT_TOPICS --write_bag 
 ```
 
 To merge bag files with select topics, and make single topics csvs.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag --write_csvs 
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_bag --write_csvs 
 ```
 
 Loop through the bag msgs and make single topics csvs.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 
 ```
 
 Loop through the bag msgs and make single topics csvs.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH --outbag_name $OUTBAG_NAME --write_csvs 
 ```
 
 
 ### Merge CSVs
 
 For now, merging csvs must be done **after** making the CSVs on a previous command.
 ```
-rosbag-merge --input_paths $IN_PATH --global_output_path $OUT_PATH  --merge_csvs
+rosbag-merge --input_paths $IN_PATH --output_path $OUT_PATH  --merge_csvs
 ```
 

examples/main_direct.py

@@ -16,7 +16,7 @@
 
 main_args = argparse.Namespace()
 main_args.input_paths = [f"{os.getcwd()}/tests/data/raw"]
-main_args.global_output_path = f"{os.getcwd()}/tests/data"
+main_args.output_path = f"{os.getcwd()}/tests/data"
 main_args.outbag_name = "merged_bag"
 main_args.write_bag = True
 main_args.topic_file = f"{os.getcwd()}/tests/topic_list.txt"

src/rosbag_merge/bag_stream.py

@@ -17,7 +17,7 @@
 CSVS = rosbag_to_csv.CsvStreams
 
 # inspired from : https://github.com/Kautenja/rosbag-tools/blob/master/merge.py , which has no LICENSE information and is not maintained
-def stream(input_bag: Bag, topics: list = ["*"], output_bag: Bag=None, input_bag_filename: str=None, write_csvs : bool=False, global_output_path : str="") -> None:
+def stream(input_bag: Bag, topics: list = ["*"], output_bag: Bag=None, input_bag_filename: str=None, write_csvs : bool=False, output_path : str="") -> None:
     """Stream data from an input bag to an output bag.
 
     :param input_bag: the input bag to stream from
@@ -26,7 +26,7 @@ def stream(input_bag: Bag, topics: list = ["*"], output_bag: Bag=None, input_bag
     :param input_bag_filename: used to write the csv name
     :param write_csvs: bool to determine whether to write csvs.
     :param topics: a list of the topics to include
-    :param global_output_path: The global path to write the csv with.
+    :param output_path: The global path to write the csv with.
 
     :return: None
     """
@@ -41,7 +41,7 @@ def stream(input_bag: Bag, topics: list = ["*"], output_bag: Bag=None, input_bag
                 merge_bags.write_to_bag(output_bag, topic, msg, time)
             if (write_csvs):
                 # write this message to the output csv
-                CSVS.write_data(topic,msg,time,input_bag_filename,global_output_path)
+                CSVS.write_data(topic,msg,time,input_bag_filename,output_path)
             # increment the counter of included messages
             msg_count += 1
             if ( 0 == msg_count % prog_bar_update_interval):
@@ -51,32 +51,32 @@ def stream(input_bag: Bag, topics: list = ["*"], output_bag: Bag=None, input_bag
                 prog.set_postfix(msg_count=msg_count, prog_bar_update_interval=prog_bar_update_interval)
     prog.close()
 
-def stream_iter(input_bags : 'list[str]', topics : 'list[str]'=["*"], output_bag: Bag=None, write_csvs : bool=False, global_output_path : str=False) -> None:
+def stream_iter(input_bags : 'list[str]', topics : 'list[str]'=["*"], output_bag: Bag=None, write_csvs : bool=False, output_path : str=False) -> None:
     """Iterate over the input files
 
     :param input_bags: a list of bag names to write data to.
     :param topics: a list of the topics to include
     :param output_bag: the output bag to write data to
     :param write_csvs: bool to determine whether to write csvs.
-    :param global_output_path: The global path to write the csv with.
+    :param output_path: The global path to write the csv with.
 
     :return: None
     """
     for filename in tqdm(input_bags, unit='bag'):
         # open the input bag with an automatically closing context
         with Bag(filename, 'r') as input_bag:
             # stream the input bag to the output bag
-            stream(input_bag, topics=topics, output_bag=output_bag, input_bag_filename=filename, write_csvs=write_csvs, global_output_path=global_output_path)
+            stream(input_bag, topics=topics, output_bag=output_bag, input_bag_filename=filename, write_csvs=write_csvs, output_path=output_path)
 
-def main(input_bags : 'list[str]', topics : 'list[str]', write_bag : bool, write_csvs : bool, global_output_path : str, outbag_name : str):
+def main(input_bags : 'list[str]', topics : 'list[str]', write_bag : bool, write_csvs : bool, output_path : str, outbag_name : str):
     try:
         if(write_bag):
-            full_bag_path = os.path.join(global_output_path,outbag_name+".bag")
+            full_bag_path = os.path.join(output_path,outbag_name+".bag")
             # open the output bag in an automatically closing context
             with Bag(full_bag_path, 'w') as output_bag:
-                stream_iter(input_bags, topics = topics, output_bag = output_bag, write_csvs=write_csvs, global_output_path=global_output_path)
+                stream_iter(input_bags, topics = topics, output_bag = output_bag, write_csvs=write_csvs, output_path=output_path)
         else:
-            stream_iter(input_bags=input_bags, topics = topics, write_csvs=write_csvs, global_output_path=global_output_path)
+            stream_iter(input_bags=input_bags, topics = topics, write_csvs=write_csvs, output_path=output_path)
     except KeyboardInterrupt:
         pass
     finally:

src/rosbag_merge/main.py

@@ -53,8 +53,8 @@ def refine_args(args:argparse.Namespace)-> argparse.Namespace:
     if (no_outbag_actions):
         ic("Writing bags requires an outbag suffix.")
     no_input_files = (("input_bags" not in args) or (not len(args.input_bags))) and (("input_csvs" not in args) or (not len(args.input_csvs)))
-    args.write_bag = True if args.global_output_path and args.outbag_name else False
-    requesting_write_without_output_path =  not args.global_output_path and (args.merge_csvs or args.write_csvs or args.write_bag)
+    args.write_bag = True if args.output_path and args.outbag_name else False
+    requesting_write_without_output_path =  not args.output_path and (args.merge_csvs or args.write_csvs or args.write_bag)
     no_csvs_to_merge = (("input_csvs" not in args) or not (len(args.input_csvs) or args.write_csvs)) and args.merge_csvs
     if (no_csvs_to_merge):
         ic("unable to merge non-existent (present tense and future) csvs.")
@@ -78,7 +78,7 @@ def create_parser()-> argparse.ArgumentParser:
     # create an argument parser to read arguments from the command line
     parser = argparse.ArgumentParser(description=__doc__)
     # add an argument for the output bag to create
-    parser.add_argument('--global_output_path', '-gop',
+    parser.add_argument('--output_path', '-op',
         type=str,
         help='The output path for all outputted files. (global paths)',
         default="./",
@@ -145,13 +145,13 @@ def main(args:argparse.Namespace=None):
         expecting_to_merge_newly_written_csvs = args.write_csvs and (not len(args.input_csvs))
         if(expecting_to_merge_newly_written_csvs):
             # gather newly made csvs from the output path
-            args.input_csvs.extend(glob.glob(os.path.join(args.global_output_path,"*-single-topic.csv")))
+            args.input_csvs.extend(glob.glob(os.path.join(args.output_path,"*-single-topic.csv")))
             csv_merge.merge_csvs_using_dask(args.input_csvs)
     else:
         bag_stream.main(input_bags=args.input_bags 
                         ,write_bag=args.write_bag
                         ,write_csvs=args.write_csvs
-                        ,global_output_path=args.global_output_path
+                        ,output_path=args.output_path
                         ,outbag_name=args.outbag_name
                         ,topics=args.topics
                         ) 

src/rosbag_merge/rosbag_to_csv.py

@@ -25,32 +25,32 @@ def __init__(self):
         self.replace_newline_char = True
         self.newline_char_replacement = '<-NEW-LINE->>,<<-NEW-LINE>' # using new line as csv but retaining history of new line existence
 
-    def write_data(self, topic: str, msg: object, time: rospy.rostime.Time , input_bag_file : str, global_output_path: str,use_header: bool = True):
+    def write_data(self, topic: str, msg: object, time: rospy.rostime.Time , input_bag_file : str, output_path: str,use_header: bool = True):
         """Write data to a csv file.
 
         :param topic: the topic name
         :param msg: the ros msg
         :param input_bag_file: The input bag file name which is used to construct the output csv name
-        :param global_output_path: The global path to write the csv with.
+        :param output_path: The global path to write the csv with.
         :param write_header: a bool to write a header or not.
 
         :return: None
         """
-        stream = self.get_stream(topic,msg,input_bag_file, global_output_path, use_header)
+        stream = self.get_stream(topic,msg,input_bag_file, output_path, use_header)
         # DatetimeIndex format
         date_time_str = datetime.fromtimestamp(
                 time.to_time()).strftime('%Y-%m %d %H:%M:%S.%f')
         stream.write(date_time_str)
         self.message_to_csv(stream, msg)
         stream.write('\n')
 
-    def get_stream(self, topic: str, msg : object, input_bag_file : str, global_output_path: str, write_header: bool = True) -> io.TextIOWrapper:
+    def get_stream(self, topic: str, msg : object, input_bag_file : str, output_path: str, write_header: bool = True) -> io.TextIOWrapper:
         """Open/access a file stream, write a header in the file, and return it.
 
         :param topic: the topic name
         :param msg: the ros msg
         :param input_bag_file: The input bag file name which is used to construct the output csv name
-        :param global_output_path: The global path to write the csv with.
+        :param output_path: The global path to write the csv with.
         :param write_header: a bool to write a header or not.
 
         :return: A file ptr/stream which has been opened.
@@ -59,7 +59,7 @@ def get_stream(self, topic: str, msg : object, input_bag_file : str, global_outp
             stream = self.streamdict[topic]
         else:
             # the input bag name is used to write the outputted csv
-            outpath_with_file = os.path.join(global_output_path, os.path.basename( input_bag_file ))
+            outpath_with_file = os.path.join(output_path, os.path.basename( input_bag_file ))
             stream = open(
                 self.format_csv_filename(
                     self.output_file_format,