#!/usr/bin/python
"""
Copyright (c) 2018, Nagoya University
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
 list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
 this list of conditions and the following disclaimer in the documentation
 and/or other materials provided with the distribution.

* Neither the name of Autoware nor the names of its
 contributors may be used to endorse or promote products derived from
 this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

v1.0 Jacob Lambert 2018-05-30

Copyright (c) 2012,
Systems, Robotics and Vision Group
University of the Balearican Islands
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of Systems, Robotics and Vision Group, University of
      the Balearican Islands nor the names of its contributors may be used to
      endorse or promote products derived from this software without specific
      prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
"""


PKG = 'autoware_bag_tools' # this package name

import roslib; roslib.load_manifest(PKG)
import rospy
import rosbag
import os
import sys
import argparse
import platform

def change_frame_id(inbag,outbag,frame_ids,topics):
  rospy.loginfo('   Processing input bagfile: %s', inbag)
  rospy.loginfo('  Writing to output bagfile: %s', outbag)
  rospy.loginfo('            Changing topics: %s', topics)
  rospy.loginfo('           Writing frame_ids: %s', frame_ids)

  outbag = rosbag.Bag(outbag,'w')
  for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
    if topic in topics:
      if msg._has_header:
        if len(frame_ids) == 1:
          msg.header.frame_id = frame_ids[0]
        else:
          idx = topics.index(topic)
          msg.header.frame_id = frame_ids[idx]

    outbag.write(topic, msg, t)
  rospy.loginfo('Closing output bagfile and exit...')
  outbag.close()

if __name__ == "__main__":
  rospy.init_node('change_frame_id')
  parser = argparse.ArgumentParser(
      description='Create a new bagfile from an existing one replacing the frame ids of requested topics.')
  parser.add_argument('-o', metavar='OUTPUT_BAGFILE', required=True, help='output bagfile')
  parser.add_argument('-i', metavar='INPUT_BAGFILE', required=True, help='input bagfile')
  parser.add_argument('-f', metavar='FRAME_ID', required=True, help='desired frame_ids name in the topics. If there is '
                                                                    'one frame ID, all topics are changed to that ID. '
                                                                    'If there is more than one frame ID, one topic per '
                                                                    'frame ID is expected.', nargs='+')
  parser.add_argument('-t', metavar='TOPIC', required=True, help='topic(s) to change', nargs='+')
  args = parser.parse_args()

  # Check
  if len(args.f) != 1 and len(args.f) != len(args.t):
    raise ValueError("Number of frame IDs given must be 1 or equal to the number of topics. Aborting")

  try:
    change_frame_id(args.i,args.o,args.f,args.t)
  except Exception, e:
    import traceback
    traceback.print_exc()