Draft: [fix_extract] Not working first attempts to fix the extract feature

.vscode/launch.json

@@ -0,0 +1,21 @@
+{
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "name": "Debug pocolog command",
+ "type": "Ruby",
+ "request": "launch",
+ "program": "${rock:srcDir}/bin/pocolog",
+ "args": [
+ "${rock:srcDir}/test/data/laser_scanner_Logger.0.log",
+ "--extract",
+ "${rock:srcDir}/test/data/sample_velodyne_only.log",
+ "--stream",
+ "velodyne.laser_scans:0:5"
+ ]
+ }
+ ]
+}

bin/pocolog

@@ -166,39 +166,54 @@ module Pocolog
  from.each do |file_io|
  from = Logfiles.new(file_io)
  index_mapping = Array.new
- from.each_block do |info|
-  if info.type == STREAM_BLOCK
-  stream = from.read_stream_declaration
-  if streams.empty? || streams.has_key?(stream.name)
-  if !enabled[[stream.name, stream.typename]]
-  enabled[[stream.name, stream.typename]] = next_index
-  next_index += 1
-  end
- index_mapping[info.index] = [enabled[[stream.name, stream.typename]]].pack("v")
- start_sample[info.index], sample_count[info.index] = *streams[stream.name]
+ puts "from #{from.path}"
+ from.each_stream do |stream|
+ #from.each_block do |info| # 
+ #binding.pry
+ #if info.type == STREAM_BLOCK
+ # stream = from.read_stream_declaration
+ if streams.empty? || streams.has_key?(stream.name)
+ if !enabled[[stream.name, stream.typename]]
+ enabled[[stream.name, stream.typename]] = next_index
+ next_index += 1
  end
+ index_mapping[stream.index] = [enabled[[stream.name, stream.typename]]].pack("v")
+ start_sample[stream.index], sample_count[stream.index] = *streams[stream.name]
  end
+ #end
+
+ #stream_index = index_mapping[info.index]
+
+ stream_index = index_mapping[stream.index]
 
- stream_index = index_mapping[info.index]
  if stream_index
- if (skip = start_sample[info.index]) && info.type == DATA_BLOCK
- start_sample[info.index] =
- if skip > 1 then skip - 1
- else nil
- end
- next
+ if stream.name == "velodyne.laser_scans"
+ puts "stream_index = #{stream_index}"
+ puts "index_mapping = #{index_mapping}"
  end
-
- Logfiles.copy_block(info, from.rio, to, buffer) do |buffer|
+ #if (skip = start_sample[info.index]) && info.type == DATA_BLOCK
+ # start_sample[info.index] =
+ # if skip > 1 then skip - 1
+ # else nil
+ # end
+ # next
+ #end
+
+ #Logfiles.copy_block(stream.info, from.io, to, buffer) do |buffer|
+ #Logfiles.copy_block(from.block_stream, from.io, to, buffer) do |buffer|
+ Logfiles.copy_block(stream.info, from.io, to, buffer) do |buffer|
  buffer[2, 2] = stream_index
  buffer
  end
- remaining = sample_count[info.index]
- if remaining && info.type == DATA_BLOCK
+ remaining = sample_count[stream.index]
+ puts "remaining = #{remaining}"
+ if remaining #&& stream.type == DATA_BLOCK
+ puts "remaining = #{remaining}"
  if remaining > 1
- sample_count[info.index] = remaining - 1
+ sample_count[stream.index] = remaining - 1
  else # reached the max count, disable copying that stream
- index_mapping[info.index] = nil
+ index_mapping[stream.index] = nil
+ stream_index = nil
  end
  end
  end
@@ -676,6 +691,7 @@ parser = OptionParser.new do |opts|
  name, start, finish = n.split(':')
  start = Integer(start) if start
  finish = Integer(finish) if finish
+ puts "start {#{start}} finish {#{finish}} for #{name}" 
  config.streams[name] = [start, finish - (start || 0)]
  end
  end

lib/pocolog/convert.rb

@@ -11,8 +11,8 @@ def self.write_prologue(to_io, big_endian = nil)
 
  def self.copy_block(block_info, from_io, to_io, buffer)
  # copy the block as-is
- from_io.seek(block_info.pos)
- buffer = from_io.read(BLOCK_HEADER_SIZE + block_info.payload_size, buffer)
+ from_io.seek(block_info.interval_io[0])
+ buffer = from_io.read(BLOCK_HEADER_SIZE + block_info.size, buffer)
  if block_given?
  buffer = yield(buffer)
  end