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jros2 conversion
1 parent 6c78a53 commit 132f83d

18 files changed

Lines changed: 45 additions & 38 deletions

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‎scs2-session-logger/build.gradle.kts‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ mainDependencies {
1919
api("us.ihmc:scs2-session:source")
2020
api("us.ihmc:scs2-simulation:source") // TODO Need to fix this, it needs the Robot.
2121

22-
api("us.ihmc:ihmc-robot-data-logger:0.37.3")
22+
api("us.ihmc:ihmc-robot-data-logger:source")
2323
api("com.github.luben:zstd-jni:1.5.5-10")
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api("org.antlr:antlr4-runtime:4.13.1")
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//api("org.lz4:lz4-java:1.8.0")

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/BlackMagicScrubber.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22

33
import us.ihmc.codecs.demuxer.MP4VideoDemuxer;
44
import us.ihmc.codecs.generated.YUVPicture;
5-
import us.ihmc.robotDataLogger.Camera;
5+
import logger_msgs.Camera;
66

77
import java.io.File;
88
import java.io.IOException;

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/ChildLogSynchronization.java‎

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Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
package us.ihmc.scs2.session.log;
22

3-
import us.ihmc.robotDataLogger.Synchronization;
3+
import logger_msgs.Synchronization;
44

55
public class ChildLogSynchronization
66
{

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/CompositeLogDataReader.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,8 +3,8 @@
33
import org.ejml.data.DMatrixRMaj;
44
import org.ejml.dense.row.CommonOps_DDRM;
55
import us.ihmc.log.LogTools;
6-
import us.ihmc.robotDataLogger.ChildLog;
7-
import us.ihmc.robotDataLogger.Synchronization;
6+
import logger_msgs.ChildLog;
7+
import logger_msgs.Synchronization;
88
import us.ihmc.yoVariables.variable.YoVariable;
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1010
import java.io.File;

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/LogDataReader.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -92,7 +92,7 @@ public LogDataReader(File logDirectory, ProgressConsumer progressConsumer) throw
9292
logChannel = logFileInputStream.getChannel();
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9494
compressed = logProperties.getVariables().getCompressed();
95-
compressionType = compressed ? CompressionType.fromString(logProperties.getVariables().getCompressionTypeAsString()) : CompressionType.NONE;
95+
compressionType = compressed ? CompressionType.SNAPPY : CompressionType.NONE;
9696
singleTickSize = bufferSize;
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if (compressed)
@@ -106,7 +106,7 @@ public LogDataReader(File logDirectory, ProgressConsumer progressConsumer) throw
106106
logIndex = new LogIndex(indexData, logChannel.size());
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108108
// For legacy logs we need to check what the batch size is
109-
int storedBatchSize = logProperties.getVariables().getCompressionBatchSize();
109+
int storedBatchSize = 0;
110110
batchSize = storedBatchSize <= 0 ? 1 : storedBatchSize;
111111

112112
int rawBatchBytes = bufferSize * batchSize;
@@ -122,7 +122,7 @@ public LogDataReader(File logDirectory, ProgressConsumer progressConsumer) throw
122122
int lastBatchTicks = batchSize; // Last batch is full
123123
if (batchSize > 1)
124124
{
125-
int storedValidTicksInLastBatch = logProperties.getVariables().getValidTicksInLastBatch();
125+
int storedValidTicksInLastBatch = 0;
126126
lastBatchTicks = storedValidTicksInLastBatch > 0 ? storedValidTicksInLastBatch : batchSize;
127127

128128
}

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/LogSession.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,8 @@
22

33
import us.ihmc.commons.Conversions;
44
import us.ihmc.log.LogTools;
5-
import us.ihmc.robotDataLogger.LogProperties;
6-
import us.ihmc.robotDataLogger.Synchronization;
5+
import logger_msgs.LogProperties;
6+
import logger_msgs.Synchronization;
77
import us.ihmc.robotDataLogger.logger.LogPropertiesReader;
88
import us.ihmc.scs2.definition.robot.RobotDefinition;
99
import us.ihmc.scs2.definition.robot.RobotStateDefinition;

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/LogTimeStampedIndexGenerator.java‎

Lines changed: 10 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,12 @@
11
package us.ihmc.scs2.session.log;
22

3+
import logger_msgs.MessageTypes;
4+
import logger_msgs.LogProperties;
5+
import us.ihmc.idl.serializers.extra.ROS2PropertiesSerializer;
6+
import us.ihmc.robotDataLogger.handshake.YoVariableHandshakeParser;
7+
import us.ihmc.robotDataLogger.logger.YoVariableLoggerListener;
8+
import us.ihmc.tools.compression.SnappyUtils;
9+
310
import java.io.DataInputStream;
411
import java.io.File;
512
import java.io.FileInputStream;
@@ -8,13 +15,6 @@
815
import java.nio.ByteBuffer;
916
import java.nio.channels.FileChannel;
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11-
import us.ihmc.idl.serializers.extra.PropertiesSerializer;
12-
import us.ihmc.robotDataLogger.LogProperties;
13-
import us.ihmc.robotDataLogger.LogPropertiesPubSubType;
14-
import us.ihmc.robotDataLogger.handshake.YoVariableHandshakeParser;
15-
import us.ihmc.robotDataLogger.logger.YoVariableLoggerListener;
16-
import us.ihmc.tools.compression.SnappyUtils;
17-
1818
public class LogTimeStampedIndexGenerator
1919
{
2020
private final static String newIndexFile = "robotData_converted.dat";
@@ -30,7 +30,8 @@ public static void convert(File logDirectory, LogProperties logProperties, Progr
3030
byte[] handshakeData = new byte[(int) handshake.length()];
3131
handshakeStream.readFully(handshakeData);
3232
handshakeStream.close();
33-
int logLineLength = YoVariableHandshakeParser.getNumberOfStateVariables(logProperties.getVariables().getHandshakeFileType(), handshakeData);
33+
int logLineLength = YoVariableHandshakeParser.getNumberOfStateVariables(
34+
MessageTypes.handshakeFileType(logProperties.getVariables().getHandshakeFileType()), handshakeData);
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3536
File logdata = new File(logDirectory, logProperties.getVariables().getDataAsString());
3637
if (!logdata.exists())
@@ -101,7 +102,7 @@ public static void convert(File logDirectory, LogProperties logProperties, Progr
101102
logProperties.getVariables().setIndex(newIndexFile);
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103104
File log = new File(logDirectory, YoVariableLoggerListener.propertyFile);
104-
PropertiesSerializer<LogProperties> writer = new PropertiesSerializer<>(new LogPropertiesPubSubType());
105+
ROS2PropertiesSerializer<LogProperties> writer = new ROS2PropertiesSerializer<>(LogProperties.class);
105106
writer.serialize(log, logProperties);
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107108
index.delete();

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/log/MagewellScrubber.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
11
package us.ihmc.scs2.session.log;
22

33
import org.bytedeco.javacv.Frame;
4-
import us.ihmc.robotDataLogger.Camera;
4+
import logger_msgs.Camera;
55
import us.ihmc.robotDataLogger.logger.MagewellDemuxer;
66
import us.ihmc.robotDataLogger.logger.MagewellMuxer;
77
import us.ihmc.tools.CaptureTimeTools;

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/mcap/encoding/CDRDeserializer.java‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,7 @@
11
package us.ihmc.scs2.session.mcap.encoding;
22

3-
import us.ihmc.idl.CDR;
3+
import us.ihmc.fastddsjava.pointers.fastddsjava;
44
import us.ihmc.log.LogTools;
5-
import us.ihmc.pubsub.common.SerializedPayload;
65

76
import java.nio.ByteBuffer;
87
import java.nio.ByteOrder;
@@ -125,7 +124,7 @@ private static void readEncapsulation(ByteBuffer buffer)
125124
// @formatter:off
126125
/* int dummy = */ buffer.get();
127126
short encapsulation = buffer.get();
128-
if (encapsulation == SerializedPayload.CDR_BE || encapsulation == SerializedPayload.PL_CDR_BE)
127+
if (encapsulation == fastddsjava.CDR_BE || encapsulation == fastddsjava.PL_CDR_BE)
129128
{
130129
buffer.order(ByteOrder.BIG_ENDIAN);
131130
}

‎scs2-session-logger/src/main/java/us/ihmc/scs2/session/tools/RobotDataLogTools.java‎

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Original file line numberDiff line numberDiff line change
@@ -5,9 +5,9 @@
55
import java.io.FileInputStream;
66
import java.io.IOException;
77

8-
import us.ihmc.robotDataLogger.LogProperties;
9-
import us.ihmc.robotDataLogger.Model;
10-
import us.ihmc.robotDataLogger.Variables;
8+
import logger_msgs.LogProperties;
9+
import logger_msgs.Model;
10+
import logger_msgs.Variables;
1111
import us.ihmc.robotDataLogger.handshake.YoVariableHandshakeParser;
1212
import us.ihmc.robotDataLogger.logger.YoVariableLoggerListener;
1313
import us.ihmc.scs2.definition.robot.RobotDefinition;

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