Cleanup

README.md

@@ -1,2 +1,3 @@
 # clj-rosbag
+
 Clojure(Script) ROS bag reader.

src/clj/clj_rosbag/core.clj

@@ -1,6 +1,6 @@
 (ns clj-rosbag.core
   (:import [com.github.swrirobotics.bags.reader BagFile]
-           [com.github.swrirobotics.bags.reader.messages.serialization BagMessage MessageType ArrayType]))
+           [com.github.swrirobotics.bags.reader.messages.serialization MessageType ArrayType]))
 
 (defrecord RosMessage [topic message time])
 
@@ -43,7 +43,7 @@
 
 (defn from-bag-msg
   ([msg] (->RosMessage (.getTopic msg)
-                       (.getMessage msg)
+                       (msg-type->map (.getMessage msg))
                        (.getTimestamp msg))))
 
 (defn open
@@ -65,10 +65,4 @@
     (def file (File. "resources/planar_lidar.bag"))
     (def bag (open (.getPath file)))
     (def msgs (read-messages bag))
-    (def msg (:message (first msgs)))
-    (def field-names (.getFieldNames msg))
-    (def angle-increment (.getField msg "angle_increment"))
-    (def angle-increment-type (.getType angle-increment))
-    (def ranges (.getField msg "ranges"))
-    (def ranges-type (.getType ranges))
-    (msg-type->map msg)))
+    (def msg (:message (first msgs)))))

src/cljs/clj_rosbag/core.cljs

@@ -13,14 +13,7 @@
                                     (fn [msg]
                                        (put! ch msg))))))
 
-(defn read-messages
-  "Asyncronously reads messages into a channel."
-  ([bag] (read-messages (chan)))
-  ([bag ch compression]
-   (read-bag ch bag)
-   ch))
-
-(defn open-bag
+(defn open
   [bag-str]
   (let [size (.-length bag-str)
         char-codes (js/Array. size)
@@ -29,3 +22,10 @@
         byte-array (js/Uint8Array. char-codes)
         blob (js/Blob. #js[byte-array])]
     (Rosbag/open blob)))
+
+(defn read-messages
+  "Asyncronously reads messages into a channel."
+  ([bag] (read-messages (chan)))
+  ([bag ch compression]
+   (read-bag ch bag)
+   ch))