Add "--sort" CLI option to the "ros2 bag info" command (#1804)

* sort info output by topic name

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* add missing imports

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* add sorting to service topics and remove sorting option by serialization format

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* add CLI option for sorting output and move sorting methods to enum

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* add sorting by name to topic only option of info output

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* move InfoSortingMethod and generate sorted idx functions to seprate files; move ServiceInformation and ServiceMetadata struct to storage package for clear include structure

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* move ServiceInformation struct to its own header file and rename to ServiceEventInformation; replace if-else by switch-case for differantiating between sorting methods; bugfix sorting method from string resolution and service info verbose not being sorted

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* add test-cases for sorted info output

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>

* Fix linker issues

- Add missing const qualifier for the generate_sorted_idx(..) version
with rosbag2_cpp::rosbag2_service_info_t
- Small cleanups

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Regenerate pyi stub files

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Small nitpick for using const reference in the for loop

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Soenke Prophet <soenke.prophet@gmail.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Soenke Prophet <soenke.prophet@gmail.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

ros2bag/ros2bag/verb/info.py

@@ -30,16 +30,21 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '-v', '--verbose', action='store_true',
             help='Display request/response information for services'
         )
+        available_sorting_methods = Info().get_sorting_methods()
+        parser.add_argument(
+            '--sort', default='name', choices=available_sorting_methods,
+            help='Configuration for sorting of output. '
+                 'By default sorts by topic name - use this argument to override.')
 
     def main(self, *, args):  # noqa: D102
         if args.topic_name and args.verbose:
             print("Warning! You have set both the '-t' and '-v' parameters. The '-t' parameter "
                   'will be ignored.')
         m = Info().read_metadata(args.bag_path, args.storage)
         if args.verbose:
-            Info().print_output_verbose(args.bag_path, m)
+            Info().print_output_verbose(args.bag_path, m, args.sort)
         else:
             if args.topic_name:
-                Info().print_output_topic_name_only(m)
+                Info().print_output_topic_name_only(m, args.sort)
             else:
-                Info().print_output(m)
+                Info().print_output(m, args.sort)

rosbag2_py/CMakeLists.txt

@@ -73,6 +73,7 @@ target_link_libraries(_reader PUBLIC
 pybind11_add_module(_storage SHARED
   src/rosbag2_py/_storage.cpp
   src/rosbag2_py/format_bag_metadata.cpp
+  src/rosbag2_py/info_sorting_method.cpp
 )
 target_link_libraries(_storage PUBLIC
   rosbag2_cpp::rosbag2_cpp
@@ -92,6 +93,7 @@ pybind11_add_module(_info SHARED
   src/rosbag2_py/_info.cpp
   src/rosbag2_py/format_bag_metadata.cpp
   src/rosbag2_py/format_service_info.cpp
+  src/rosbag2_py/info_sorting_method.cpp
 )
 target_link_libraries(_info PUBLIC
   rosbag2_cpp::rosbag2_cpp

rosbag2_py/rosbag2_py/_info.pyi

@@ -2,7 +2,8 @@ import rosbag2_py._storage
 
 class Info:
     def __init__(self) -> None: ...
-    def print_output(self, arg0: rosbag2_py._storage.BagMetadata) -> None: ...
-    def print_output_topic_name_only(self, arg0: rosbag2_py._storage.BagMetadata) -> None: ...
-    def print_output_verbose(self, arg0: str, arg1: rosbag2_py._storage.BagMetadata) -> None: ...
+    def get_sorting_methods(self) -> Set[str]: ...
+    def print_output(self, arg0: rosbag2_py._storage.BagMetadata, arg1: str) -> None: ...
+    def print_output_topic_name_only(self, arg0: rosbag2_py._storage.BagMetadata, arg1: str) -> None: ...
+    def print_output_verbose(self, arg0: str, arg1: rosbag2_py._storage.BagMetadata, arg2: str) -> None: ...
     def read_metadata(self, arg0: str, arg1: str) -> rosbag2_py._storage.BagMetadata: ...

rosbag2_py/src/rosbag2_py/_info.cpp

@@ -15,7 +15,9 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <algorithm>
 
+#include "info_sorting_method.hpp"
 #include "format_bag_metadata.hpp"
 #include "format_service_info.hpp"
 #include "rosbag2_cpp/info.hpp"
@@ -42,15 +44,24 @@ class Info
     return info_->read_metadata(uri, storage_id);
   }
 
-  void print_output(const rosbag2_storage::BagMetadata & metadata_info)
+  void print_output(
+    const rosbag2_storage::BagMetadata & metadata_info, const std::string & sorting_method)
   {
+    InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
     // Output formatted metadata
-    std::cout << format_bag_meta_data(metadata_info) << std::endl;
+    std::cout << format_bag_meta_data(metadata_info, {}, false, false, sort_method) << std::endl;
   }
 
-  void print_output_topic_name_only(const rosbag2_storage::BagMetadata & metadata_info)
+  void print_output_topic_name_only(
+    const rosbag2_storage::BagMetadata & metadata_info, const std::string & sorting_method)
   {
-    for (const auto & topic_info : metadata_info.topics_with_message_count) {
+    InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
+    std::vector<size_t> sorted_idx = generate_sorted_idx(
+      metadata_info.topics_with_message_count,
+      sort_method);
+
+    for (auto idx : sorted_idx) {
+      const auto & topic_info = metadata_info.topics_with_message_count[idx];
       if (!rosbag2_cpp::is_service_event_topic(
           topic_info.topic_metadata.name,
           topic_info.topic_metadata.type))
@@ -61,7 +72,9 @@ class Info
   }
 
   void print_output_verbose(
-    const std::string & uri, const rosbag2_storage::BagMetadata & metadata_info)
+    const std::string & uri,
+    const rosbag2_storage::BagMetadata & metadata_info,
+    const std::string & sorting_method)
   {
     std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> all_services_info;
     for (auto & file_info : metadata_info.files) {
@@ -86,9 +99,20 @@ class Info
       }
     }
 
+    rosbag2_py::InfoSortingMethod sort_method = info_sorting_method_from_string(sorting_method);
     // Output formatted metadata and service info
-    std::cout << format_bag_meta_data(metadata_info, messages_size, true, true);
-    std::cout << format_service_info(all_services_info, messages_size, true) << std::endl;
+    std::cout << format_bag_meta_data(metadata_info, messages_size, true, true, sort_method);
+    std::cout <<
+      format_service_info(all_services_info, messages_size, true, sort_method) << std::endl;
+  }
+
+  std::unordered_set<std::string> get_sorting_methods()
+  {
+    std::unordered_set<std::string> sorting_methods;
+    for (const auto & sorting_method : rosbag2_py::sorting_method_map) {
+      sorting_methods.insert(sorting_method.first);
+    }
+    return sorting_methods;
   }
 
 protected:
@@ -105,5 +129,6 @@ PYBIND11_MODULE(_info, m) {
   .def("read_metadata", &rosbag2_py::Info::read_metadata)
   .def("print_output", &rosbag2_py::Info::print_output)
   .def("print_output_topic_name_only", &rosbag2_py::Info::print_output_topic_name_only)
-  .def("print_output_verbose", &rosbag2_py::Info::print_output_verbose);
+  .def("print_output_verbose", &rosbag2_py::Info::print_output_verbose)
+  .def("get_sorting_methods", &rosbag2_py::Info::get_sorting_methods);
 }

rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp

@@ -29,6 +29,7 @@
 #include "rosbag2_storage/bag_metadata.hpp"
 
 #include "format_bag_metadata.hpp"
+#include "service_event_info.hpp"
 
 namespace
 {
@@ -115,7 +116,8 @@ void format_topics_with_type(
   const std::unordered_map<std::string, uint64_t> & messages_size,
   bool verbose,
   std::stringstream & info_stream,
-  int indentation_spaces)
+  int indentation_spaces,
+  const rosbag2_py::InfoSortingMethod sort_method = rosbag2_py::InfoSortingMethod::NAME)
 {
   if (topics.empty()) {
     info_stream << std::endl;
@@ -139,13 +141,15 @@ void format_topics_with_type(
       info_stream << std::endl;
     };
 
+  std::vector<size_t> sorted_idx = rosbag2_py::generate_sorted_idx(topics, sort_method);
+
   size_t number_of_topics = topics.size();
   size_t i = 0;
   // Find first topic which isn't service event topic
   while (i < number_of_topics &&
     rosbag2_cpp::is_service_event_topic(
-      topics[i].topic_metadata.name,
-      topics[i].topic_metadata.type))
+      topics[sorted_idx[i]].topic_metadata.name,
+      topics[sorted_idx[i]].topic_metadata.type))
   {
     i++;
   }
@@ -155,43 +159,31 @@ void format_topics_with_type(
     return;
   }
 
-  print_topic_info(topics[i]);
+  print_topic_info(topics[sorted_idx[i]]);
   for (size_t j = ++i; j < number_of_topics; ++j) {
     if (rosbag2_cpp::is_service_event_topic(
-        topics[j].topic_metadata.name, topics[j].topic_metadata.type))
+        topics[sorted_idx[j]].topic_metadata.name, topics[sorted_idx[j]].topic_metadata.type))
     {
       continue;
     }
     indent(info_stream, indentation_spaces);
-    print_topic_info(topics[j]);
+    print_topic_info(topics[sorted_idx[j]]);
   }
 }
 
-struct ServiceMetadata
-{
-  std::string name;
-  std::string type;
-  std::string serialization_format;
-};
-
-struct ServiceInformation
-{
-  ServiceMetadata service_metadata;
-  size_t event_message_count = 0;
-};
 
-std::vector<std::shared_ptr<ServiceInformation>> filter_service_event_topic(
+std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> filter_service_event_topic(
   const std::vector<rosbag2_storage::TopicInformation> & topics_with_message_count,
   size_t & total_service_event_msg_count)
 {
   total_service_event_msg_count = 0;
-  std::vector<std::shared_ptr<ServiceInformation>> service_info_list;
+  std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> service_info_list;
 
   for (auto & topic : topics_with_message_count) {
     if (rosbag2_cpp::is_service_event_topic(
         topic.topic_metadata.name, topic.topic_metadata.type))
     {
-      auto service_info = std::make_shared<ServiceInformation>();
+      auto service_info = std::make_shared<rosbag2_py::ServiceEventInformation>();
       service_info->service_metadata.name =
         rosbag2_cpp::service_event_topic_name_to_service_name(topic.topic_metadata.name);
       service_info->service_metadata.type =
@@ -208,11 +200,12 @@ std::vector<std::shared_ptr<ServiceInformation>> filter_service_event_topic(
 }
 
 void format_service_with_type(
-  const std::vector<std::shared_ptr<ServiceInformation>> & services,
+  const std::vector<std::shared_ptr<rosbag2_py::ServiceEventInformation>> & services,
   const std::unordered_map<std::string, uint64_t> & messages_size,
   bool verbose,
   std::stringstream & info_stream,
-  int indentation_spaces)
+  int indentation_spaces,
+  const rosbag2_py::InfoSortingMethod sort_method = rosbag2_py::InfoSortingMethod::NAME)
 {
   if (services.empty()) {
     info_stream << std::endl;
@@ -221,7 +214,7 @@ void format_service_with_type(
 
   auto print_service_info =
     [&info_stream, &messages_size, verbose](
-    const std::shared_ptr<ServiceInformation> & si) -> void {
+    const std::shared_ptr<rosbag2_py::ServiceEventInformation> & si) -> void {
       info_stream << "Service: " << si->service_metadata.name << " | ";
       info_stream << "Type: " << si->service_metadata.type << " | ";
       info_stream << "Event Count: " << si->event_message_count << " | ";
@@ -238,11 +231,13 @@ void format_service_with_type(
       info_stream << std::endl;
     };
 
-  print_service_info(services[0]);
+  std::vector<size_t> sorted_idx = rosbag2_py::generate_sorted_idx(services, sort_method);
+
+  print_service_info(services[sorted_idx[0]]);
   auto number_of_services = services.size();
   for (size_t j = 1; j < number_of_services; ++j) {
     indent(info_stream, indentation_spaces);
-    print_service_info(services[j]);
+    print_service_info(services[sorted_idx[j]]);
   }
 }
 
@@ -255,7 +250,8 @@ std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata,
   const std::unordered_map<std::string, uint64_t> & messages_size,
   bool verbose,
-  bool only_topic)
+  bool only_topic,
+  const InfoSortingMethod sort_method)
 {
   auto start_time = metadata.starting_time.time_since_epoch();
   auto end_time = start_time + metadata.duration;
@@ -267,10 +263,8 @@ std::string format_bag_meta_data(
   }
 
   size_t total_service_event_msg_count = 0;
-  std::vector<std::shared_ptr<ServiceInformation>> service_info_list;
-  service_info_list = filter_service_event_topic(
-    metadata.topics_with_message_count,
-    total_service_event_msg_count);
+  std::vector<std::shared_ptr<ServiceEventInformation>> service_info_list =
+    filter_service_event_topic(metadata.topics_with_message_count, total_service_event_msg_count);
 
   info_stream << std::endl;
   info_stream << "Files:             ";
@@ -288,14 +282,22 @@ std::string format_bag_meta_data(
     std::endl;
   info_stream << "Topic information: ";
   format_topics_with_type(
-    metadata.topics_with_message_count, messages_size, verbose, info_stream, indentation_spaces);
+    metadata.topics_with_message_count,
+    messages_size, verbose, info_stream,
+    indentation_spaces,
+    sort_method);
 
   if (!only_topic) {
     info_stream << "Service:           " << service_info_list.size() << std::endl;
     info_stream << "Service information: ";
     if (!service_info_list.empty()) {
       format_service_with_type(
-        service_info_list, messages_size, verbose, info_stream, indentation_spaces + 2);
+        service_info_list,
+        messages_size,
+        verbose,
+        info_stream,
+        indentation_spaces + 2,
+        sort_method);
     }
   }
 

rosbag2_py/src/rosbag2_py/format_bag_metadata.hpp

@@ -18,6 +18,7 @@
 #include <string>
 #include <unordered_map>
 
+#include "info_sorting_method.hpp"
 #include "rosbag2_storage/bag_metadata.hpp"
 
 namespace rosbag2_py
@@ -27,7 +28,8 @@ std::string format_bag_meta_data(
   const rosbag2_storage::BagMetadata & metadata,
   const std::unordered_map<std::string, uint64_t> & messages_size = {},
   bool verbose = false,
-  bool only_topic = false);
+  bool only_topic = false,
+  InfoSortingMethod sort_method = InfoSortingMethod::NAME);
 
 }  // namespace rosbag2_py
 

rosbag2_py/src/rosbag2_py/format_service_info.cpp

@@ -46,7 +46,8 @@ std::string
 format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info_list,
   const std::unordered_map<std::string, uint64_t> & messages_size,
-  bool verbose)
+  bool verbose,
+  const InfoSortingMethod sort_method)
 {
   std::stringstream info_stream;
   const std::string service_info_string = "Service information: ";
@@ -78,11 +79,13 @@ format_service_info(
       info_stream << std::endl;
     };
 
-  print_service_info(service_info_list[0]);
+  std::vector<size_t> sorted_idx = generate_sorted_idx(service_info_list, sort_method);
+
+  print_service_info(service_info_list[sorted_idx[0]]);
   auto number_of_services = service_info_list.size();
   for (size_t j = 1; j < number_of_services; ++j) {
     info_stream << std::string(indentation_spaces, ' ');
-    print_service_info(service_info_list[j]);
+    print_service_info(service_info_list[sorted_idx[j]]);
   }
 
   return info_stream.str();

rosbag2_py/src/rosbag2_py/format_service_info.hpp

@@ -20,6 +20,7 @@
 #include <vector>
 #include <unordered_map>
 
+#include "info_sorting_method.hpp"
 #include "rosbag2_cpp/info.hpp"
 
 namespace rosbag2_py
@@ -28,7 +29,8 @@ namespace rosbag2_py
 std::string format_service_info(
   std::vector<std::shared_ptr<rosbag2_cpp::rosbag2_service_info_t>> & service_info,
   const std::unordered_map<std::string, uint64_t> & messages_size = {},
-  bool verbose = false);
+  bool verbose = false,
+  const InfoSortingMethod sort_method = InfoSortingMethod::NAME);
 
 }  // namespace rosbag2_py