fixed timespan filtering of messages

README.md

@@ -71,7 +71,7 @@ You can also read only some of the messages, which is faster than reading the wh
   0.317334 seconds (743.59 k allocations: 231.204 MiB)
 # combine a specific topic and time span:
 >>> @time bag["/davis/left/image_raw", ROSTime("2017-09-05T20:59:40"):ROSTime("2017-09-05T20:59:50")]
-  0.100355 seconds (323.90 k allocations: 51.066 MiB)
+  0.116424 seconds (323.86 k allocations: 50.807 MiB)
 ```
 
 ## Message Types

src/bag.jl

@@ -217,6 +217,7 @@ select(filter::ConnectionFilter, _) = true
 
 select(filter::ROSTimespan, infos::ChunkInfo) =
     infos.start_time <= filter.end_time && infos.end_time >= filter.start_time
+select(filter::ROSTimespan, msg::MessageData) = msg.time in filter
 select(filter::ROSTimespan, _) = true
 
 make_filter(bag, ts::ROSTimespan) = ts

src/ros/builtin_msgs.jl

@@ -6,7 +6,18 @@ struct ROSTime <: Readable
     nsecs::UInt32
 end
 ROSTime(d::DateTime) = convert(ROSTime, d)
-ROSTime(s::String) = begin
+ROSTime(s::String) = convert(ROSTime, s)
+
+Base.convert(::Type{UInt64},   t::ROSTime) = UInt64(t.secs) << 32 + t.nsecs
+Base.convert(::Type{DateTime}, t::ROSTime) = unix2datetime(t.secs) + Nanosecond(t.nsecs)
+# Note: converting ROSTime to DateTime will truncate to millisecond precision
+
+function Base.convert(::Type{ROSTime},  d::DateTime)
+    ms = round(Int64, datetime2unix(d) * 1000)
+    ROSTime(ms ÷ 1000, (ms % 1000) * 1000000)
+end
+
+function Base.convert(::Type{ROSTime}, s::String)
     # We could just call ROSTime(DateTime(s)), but
     # let's be extra nice and parse nanoseconds.
     point = findlast(".", s)
@@ -20,13 +31,6 @@ ROSTime(s::String) = begin
     end
     ROSTime(trunc(UInt32, secs), trunc(UInt32, nsecs))
 end
-Base.convert(::Type{UInt64},   t::ROSTime) = UInt64(t.secs) << 32 + t.nsecs
-Base.convert(::Type{DateTime}, t::ROSTime) = unix2datetime(t.secs) + Nanosecond(t.nsecs)
-# Note: converting ROSTime to DateTime will truncate to millisecond precision
-Base.convert(::Type{ROSTime},  d::DateTime) = begin
-    ms = round(Int64, datetime2unix(d) * 1000)
-    ROSTime(ms ÷ 1000, (ms % 1000) * 1000000)
-end
 
 Base.isequal(t1::ROSTime, t2::ROSTime) = convert(UInt64, t1) == convert(UInt64, t2)
 Base.isless(t1::ROSTime, t2::ROSTime) = convert(UInt64, t1) < convert(UInt64, t2)
@@ -58,7 +62,7 @@ struct ROSTimespan
     end_time::ROSTime
 end
 (::Colon)(t1::ROSTime, t2::ROSTime) = ROSTimespan(t1, t2)
-Base.in(t, span::ROSTimespan) = t.start_time <= ROSTime(t) <= t.end_time
+Base.in(t, span::ROSTimespan) = span.start_time <= convert(ROSTime, t) <= span.end_time
 
 
 struct Header <: Readable

test/testbags.jl

@@ -14,3 +14,6 @@ bag = load("data/convergent_gen1.bag", TestTypes)
 msgs = bag["convergent"]
 @assert msgs isa Vector{MessageData{TestTypes.test_rosbag.Convergent}}
 
+# TODO:
+# - test message filters
+# - test for message content