gardentech
f34817d5b6
FastAPI backend + vanilla JS frontend for LiDAR/camera startup, camera settings, and rosbag recording, unifying the previous scan_gui/scan_gui_dual/ scan_gui_triple desktop tools into one web app.
56 lines
1.7 KiB
Python
56 lines
1.7 KiB
Python
"""Read back what ros2 bag already knows about a recording — duration,
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message counts, per-topic counts — instead of just listing directory names.
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Also a plain on-disk size sum (metadata.yaml doesn't carry a byte size in
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the ros2 bag version installed here)."""
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from __future__ import annotations
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import os
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from pathlib import Path
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from typing import Optional
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import yaml
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def dir_size_bytes(path: Path) -> int:
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total = 0
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try:
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for entry in path.iterdir():
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if entry.is_file():
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total += entry.stat().st_size
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except OSError:
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pass
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return total
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def read_bag_metadata(bag_dir: Path) -> Optional[dict]:
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"""Returns None if metadata.yaml is missing (e.g. bag was killed mid-write
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before rosbag2 flushed it) or unparseable — a real, if incomplete, state
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the operator should be able to see rather than a crash."""
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meta_path = bag_dir / "metadata.yaml"
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if not meta_path.exists():
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return None
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try:
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with open(meta_path, encoding="utf-8") as f:
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raw = yaml.safe_load(f)
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info = raw["rosbag2_bagfile_information"]
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except Exception:
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return None
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duration_s = info.get("duration", {}).get("nanoseconds", 0) / 1e9
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message_count = info.get("message_count", 0)
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topics = []
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for entry in info.get("topics_with_message_count", []):
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tm = entry.get("topic_metadata", {})
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topics.append({
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"name": tm.get("name", "?"),
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"type": tm.get("type", "?"),
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"message_count": entry.get("message_count", 0),
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})
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return {
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"duration_s": round(duration_s, 1),
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"message_count": message_count,
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"topics": topics,
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"size_bytes": dir_size_bytes(bag_dir),
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}
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