
"""LIDAR datatype format is:
    (
        timestamp (long),
        flag (bool saved as int),
        accelerometer[3] (double),
        gps[3] (double),
        distance[LIDAR_NUM_ANGLES] (long),
    )

    'int' and 'long' are the same size on the raspberry pi (32 bits).
"""
import sys
import rosbag

def decode_bag(bag):
    topics = ['/scan', '/flagbutton_pressed']
    return [message for message in bag.read_messages(topics=topics)]

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print(('Usage: {} <rosbag> [<outfile>] \n\n'
               'Print contents of rosbag file. If <outfile> is provided, \n'
               'write contents of rosbag file to <outfile> in the legacy \n'
               'lidar binary format.').format(__file__))
        sys.exit(1)

    outfile = None
    filename = sys.argv[1]

    if len(sys.argv) == 3:
        outfile = sys.argv[2]

    with rosbag.Bag(filename) as bag:
        print(decode_bag(bag))

    sys.exit()



"""LIDAR datatype format is:
    (
        timestamp (long),
        flag (bool saved as int),
        accelerometer[3] (double),
        gps[3] (double),
        distance[LIDAR_NUM_ANGLES] (long),
    )

    'int' and 'long' are the same size on the raspberry pi (32 bits).
"""
import sys
import rosbag

def print_bag(bag):
    topics = ['/scan', '/flagbutton_pressed']
    for message in bag.read_messages(topics=topics):
        print(message)


if __name__ == '__main__':
    if len(sys.argv) < 2:
        print(('Usage: {} <rosbag> [<outfile>] \n\n'
               'Print contents of rosbag file. If <outfile> is provided, \n'
               'write contents of rosbag file to <outfile> in the legacy \n'
               'lidar binary format.').format(__file__))
        sys.exit(1)

    outfile = None
    filename = sys.argv[1]

    if len(sys.argv) == 3:
        outfile = sys.argv[2]

    with rosbag.Bag(filename) as bag:
        print_bag(bag)

    sys.exit()


Print out bag contents for lidar and button topics
Print out bag contents for lidar and button topics

  
  """LIDAR datatype format is:
      (
          timestamp (long),
          flag (bool saved as int),
          accelerometer[3] (double),
          gps[3] (double),
          distance[LIDAR_NUM_ANGLES] (long),
      )
  
      'int' and 'long' are the same size on the raspberry pi (32 bits).
  """
  import sys
  import rosbag
  
- def decode_bag(bag):
+ def print_bag(bag):
      topics = ['/scan', '/flagbutton_pressed']
-     return [message for message in bag.read_messages(topics=topics)]
+     for message in bag.read_messages(topics=topics):
+         print(message)
+ 
  
  if __name__ == '__main__':
      if len(sys.argv) < 2:
          print(('Usage: {} <rosbag> [<outfile>] \n\n'
                 'Print contents of rosbag file. If <outfile> is provided, \n'
                 'write contents of rosbag file to <outfile> in the legacy \n'
                 'lidar binary format.').format(__file__))
          sys.exit(1)
  
      outfile = None
      filename = sys.argv[1]
  
      if len(sys.argv) == 3:
          outfile = sys.argv[2]
  
      with rosbag.Bag(filename) as bag:
-         print(decode_bag(bag))
+         print_bag(bag)
  
      sys.exit()
  
  
Print out bag contents for lidar and button topics
## Code Before:

"""LIDAR datatype format is:
    (
        timestamp (long),
        flag (bool saved as int),
        accelerometer[3] (double),
        gps[3] (double),
        distance[LIDAR_NUM_ANGLES] (long),
    )

    'int' and 'long' are the same size on the raspberry pi (32 bits).
"""
import sys
import rosbag

def decode_bag(bag):
    topics = ['/scan', '/flagbutton_pressed']
    return [message for message in bag.read_messages(topics=topics)]

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print(('Usage: {} <rosbag> [<outfile>] \n\n'
               'Print contents of rosbag file. If <outfile> is provided, \n'
               'write contents of rosbag file to <outfile> in the legacy \n'
               'lidar binary format.').format(__file__))
        sys.exit(1)

    outfile = None
    filename = sys.argv[1]

    if len(sys.argv) == 3:
        outfile = sys.argv[2]

    with rosbag.Bag(filename) as bag:
        print(decode_bag(bag))

    sys.exit()


## Instruction:
Print out bag contents for lidar and button topics
## Code After:

"""LIDAR datatype format is:
    (
        timestamp (long),
        flag (bool saved as int),
        accelerometer[3] (double),
        gps[3] (double),
        distance[LIDAR_NUM_ANGLES] (long),
    )

    'int' and 'long' are the same size on the raspberry pi (32 bits).
"""
import sys
import rosbag

def print_bag(bag):
    topics = ['/scan', '/flagbutton_pressed']
    for message in bag.read_messages(topics=topics):
        print(message)


if __name__ == '__main__':
    if len(sys.argv) < 2:
        print(('Usage: {} <rosbag> [<outfile>] \n\n'
               'Print contents of rosbag file. If <outfile> is provided, \n'
               'write contents of rosbag file to <outfile> in the legacy \n'
               'lidar binary format.').format(__file__))
        sys.exit(1)

    outfile = None
    filename = sys.argv[1]

    if len(sys.argv) == 3:
        outfile = sys.argv[2]

    with rosbag.Bag(filename) as bag:
        print_bag(bag)

    sys.exit()

