@foxglove/rosbag2/dist/RawMessageIterator.js

ROS 2 (Robot Operating System) bag reader and writer abstract implementation

"use strict";
Object.defineProperty(exports, "__esModule", { value: true });
exports.RawMessageIterator = void 0;
const rostime_1 = require("@foxglove/rostime");
class RawMessageIterator {
    constructor(dbIterator, topicsMap) {
        this.dbIterator = dbIterator;
        this.topicsMap = topicsMap;
    }
    [Symbol.asyncIterator]() {
        return this;
    }
    async next() {
        const res = this.dbIterator.next();
        if (res.done === true) {
            return { value: undefined, done: true };
        }
        else {
            const row = res.value;
            // Resolve topicId to a parsed topic row
            const topic = this.topicsMap.get(row.topic_id);
            if (topic == undefined) {
                throw new Error(`Cannot find topic_id ${row.topic_id} in ${this.topicsMap.size} topics`);
            }
            const timestamp = (0, rostime_1.fromNanoSec)(row.timestamp);
            const value = { topic, timestamp, data: row.data };
            return { value, done: false };
        }
    }
}
exports.RawMessageIterator = RawMessageIterator;
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