feat: mcap

.pre-commit-config.yaml

@@ -3,7 +3,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-json
         exclude: \.vscode/
@@ -18,9 +18,8 @@ repos:
       - id: trailing-whitespace
         args: [--markdown-linebreak-ext=md]
 
-  # disable because cannot ignore CONTRIBUTING.md
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.38.0
+    rev: v0.39.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix, -i, CONTRIBUTING.md]
@@ -31,7 +30,7 @@ repos:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.30.0
+    rev: v1.34.0
     hooks:
       - id: yamllint
 
@@ -45,24 +44,24 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.9.0.6
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-2
+    rev: v3.7.0-4
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.284
+    rev: v0.2.1
     hooks:
       - id: ruff
         args: [--fix]
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 24.1.1
     hooks:
       - id: black
         args: [--line-length=100]

autoware_msg_bag_converter/bag.py

@@ -25,24 +25,24 @@ def get_default_converter_options() -> ConverterOptions:
     )
 
 
-def get_default_storage_options(uri: str) -> StorageOptions:
+def get_storage_options(uri: str, storage_type: str) -> StorageOptions:
     return StorageOptions(
         uri=uri,
-        storage_id="sqlite3",
+        storage_id=storage_type,
     )
 
 
-def create_reader(bag_dir: str) -> SequentialReader:
-    storage_options = get_default_storage_options(bag_dir)
+def create_reader(bag_dir: str, storage_type: str) -> SequentialReader:
+    storage_options = get_storage_options(bag_dir, storage_type)
     converter_options = get_default_converter_options()
 
     reader = SequentialReader()
     reader.open(storage_options, converter_options)
     return reader
 
 
-def create_writer(bag_dir: str) -> SequentialWriter:
-    storage_options = get_default_storage_options(bag_dir)
+def create_writer(bag_dir: str, storage_type: str) -> SequentialReader:
+    storage_options = get_storage_options(bag_dir, storage_type)
     converter_options = get_default_converter_options()
 
     writer = SequentialWriter()

autoware_msg_bag_converter/converter.py

@@ -16,12 +16,14 @@
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_sequential_writer.py
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_reindexer.py
 
+from pathlib import Path
+
 from rosbag2_py import Reindexer
 from rosbag2_py import TopicMetadata
 
 from autoware_msg_bag_converter.bag import create_reader
 from autoware_msg_bag_converter.bag import create_writer
-from autoware_msg_bag_converter.bag import get_default_storage_options
+from autoware_msg_bag_converter.bag import get_storage_options
 
 
 def change_topic_type(old_type: TopicMetadata) -> TopicMetadata:
@@ -34,10 +36,15 @@ def change_topic_type(old_type: TopicMetadata) -> TopicMetadata:
 
 
 def convert_bag(input_bag_path: str, output_bag_path: str) -> None:
+    p_input = Path(input_bag_path)
+    storage_type = "mcap"
+    for _ in p_input.glob("*.db3"):
+        storage_type = "sqlite3"
+        break
     # open reader
-    reader = create_reader(input_bag_path)
+    reader = create_reader(input_bag_path, storage_type)
     # open writer
-    writer = create_writer(output_bag_path)
+    writer = create_writer(output_bag_path, storage_type)
 
     # create topic
     type_map = {}
@@ -55,4 +62,4 @@ def convert_bag(input_bag_path: str, output_bag_path: str) -> None:
 
     # reindex to update metadata.yaml
     del writer
-    Reindexer().reindex(get_default_storage_options(output_bag_path))
+    Reindexer().reindex(get_storage_options(output_bag_path, storage_type))

autoware_msg_bag_converter/main.py

@@ -15,6 +15,7 @@
 import argparse
 from os.path import expandvars
 from pathlib import Path
+import re
 
 from autoware_msg_bag_converter.converter import convert_bag
 
@@ -23,9 +24,10 @@ def convert_bag_in_directory(input_dir: str, output_dir: str) -> None:
     input_root = Path(input_dir)
     output_root = Path(output_dir)
 
-    bag_paths = input_root.glob("**/*.db3")  # Will mcap conversion be supported?
-    for db3_path in bag_paths:
-        input_bag_dir = db3_path.parent
+    pattern = re.compile(r".*\.(db3|mcap)$")
+    bag_paths = [p for p in input_root.rglob("*") if pattern.match(str(p))]
+    for db3_or_mcap_path in bag_paths:
+        input_bag_dir = db3_or_mcap_path.parent
         rel_path = input_bag_dir.relative_to(input_root)
         output_bag_dir = output_root.joinpath(rel_path)
         convert_bag(input_bag_dir.as_posix(), output_bag_dir.as_posix())

pyproject.toml

@@ -1,15 +1,17 @@
 [tool.black]
-line_length = 100
+line-length = 100
 
 [tool.ruff]
 line-length = 100
-show-source = true
+output-format = "full"
+
+[tool.ruff.lint]
 # https://beta.ruff.rs/docs/rules/
 select = ["A", "B", "C", "D", "E", "F", "G", "I", "N", "Q", "S", "T", "W", "ANN", "ARG", "BLE", "COM", "DJ", "DTZ", "EM", "ERA", "EXE", "FBT", "ICN", "ISC", "NPY", "PD", "PGH", "PIE", "PL", "PT", "PTH", "PYI", "RET", "RSE", "RUF", "SIM", "SLF", "TCH", "TID", "TRY", "UP", "YTT"]
 ignore = ["Q000", "ANN101", "ANN102", "ANN401", "PGH004", "E501", "PLR0913", "S101", "S301", "S603", "SIM115", "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", "D203", "D212", "D404", "D417", "PD011", "PD002", "PD901"]
-fixable=["D", "I", "ANN", "COM", "EXE", "PIE"]
+fixable = ["D", "I", "ANN", "COM", "EXE", "PIE"]
 
-[tool.ruff.isort]
+[tool.ruff.lint.isort]
 # https://pycqa.github.io/isort/docs/configuration/options.html#default-section
 force-sort-within-sections = true
 known-third-party = ["launch", "yaml"]

test/resource/dummy_mcap/dummy.mcap

@@ -0,0 +1 @@
+dummy mcap file

test/test_converter.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from pathlib import Path
+import re
 
 from rosbag2_py import TopicMetadata
 
@@ -35,7 +36,9 @@ def test_get_rosbag_path() -> None:
     # Test to confirm bag path acquisition in directory mode
     input_root = Path(__file__).resolve().parent.joinpath("resource")
     output_root = Path(__file__).resolve().parent.joinpath("converted")
-    bag_paths = input_root.glob("**/*.db3")
+    pattern = re.compile(r".*\.(db3|mcap)$")
+    bag_paths = [p for p in input_root.rglob("*") if pattern.match(str(p))]
+    assert len(bag_paths) == 3  # noqa
     for db3_path in bag_paths:
         input_bag_dir = db3_path.parent
         rel_path = input_bag_dir.relative_to(input_root)