#!/usr/bin/env python
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# Revision $Id$

PKG = 'rosbag'
import roslib; roslib.load_manifest(PKG)

import rospy
import rosbag
import fileinput

def fixbags(md5file, inbag, outbag):
    d = {}
    for line in fileinput.input(md5file):
        sp = line.split()
        d[sp[1]] = [sp[0], sp[2], sp[3]]

    rebag = rosbag.Bag(outbag, 'w')

    for topic, msg, t in rosbag.Bag(inbag).read_messages(raw=True):
        type, bytes, md5 = msg[0], msg[1], msg[2]

        if md5 in d:
            if type != d[md5][0]:
                print 'WARNING: found matching md5, but non-matching name'
                continue
            msg = (d[md5][1], msg[1], d[md5][2])

        rebag.write(topic, msg, t, raw=True)

    rebag.close()

if __name__ == '__main__':
    import sys
    if len(sys.argv) == 4:
        fixbags(sys.argv[1], sys.argv[2], sys.argv[3])
    else:
        print 'usage: fix_moved_messages.py <name_md5_file> <inbag> <outbag>'
        exit(2)
