feat: Update log/pub time from the ROS header time

README.md

@@ -19,7 +19,9 @@ Kappe is an efficient data migration tool designed to seamlessly convert and spl
     - [Topic](#topic)
       - [Rename a topic](#rename-a-topic)
       - [Remove a topic](#remove-a-topic)
+      - [Update the ROS header time](#update-the-ros-header-time)
       - [Change ROS Timestamp to publish time](#change-ros-timestamp-to-publish-time)
+      - [Change MCAP pub/log time from ROS header](#change-mcap-publog-time-from-ros-header)
       - [Add a time offset to ROS Timestamp](#add-a-time-offset-to-ros-timestamp)
     - [Pointcloud](#pointcloud)
       - [Remove zero points from PointCloud2](#remove-zero-points-from-pointcloud2)
@@ -91,6 +93,17 @@ topic:
     - /points
 ```
 
+#### Update the ROS header time
+
+Adds 8 second and 300 nanosec to the ROS header.
+
+```yaml
+time_offset:
+  /sensor/points:
+    sec: 8
+    nanosec: 300
+```
+
 #### Change ROS Timestamp to publish time
 
 Change the time of the ROS Timestamp to the time the message was published.
@@ -101,6 +114,19 @@ time_offset:
     pub_time: True
 ```
 
+#### Change MCAP pub/log time from ROS header
+
+Update the log/pub time from the ROS header.
+If `pub_time` is set, pub time will be used as source.
+If `sec` and/or `nanosec` is set, the offset is used.
+
+```yaml
+time_offset:
+  /sensor/points:
+    update_publish_time: True
+    update_log_time: True
+```
+
 #### Add a time offset to ROS Timestamp
 
 Add 15 seconds to the ROS Timestamp.

src/kappe/module/timing.py

@@ -3,6 +3,7 @@
 from typing import Any
 
 from mcap.reader import DecodedMessageTuple
+from mcap.records import Message
 from mcap_ros1._vendor.genpy.rostime import Duration as ROS1Duration
 from mcap_ros1._vendor.genpy.rostime import Time as ROS1Time
 from pydantic import BaseModel, Extra
@@ -28,40 +29,40 @@ class SettingTimeOffset(BaseModel, extra=Extra.forbid):
     :ivar nanosec:  Nanoseconds to add to the timestamp.
     :ivar pub_time: Use the publish time instead of the message time. If set sec and nanosec
                     will be added to the publish time.
+    :ivar update_log_time: Updates the log_time of the MCAP message.
+    :ivar update_publish_time: Updates the publish_time of the MCAP message.
     """
 
     sec: int = 0
     nanosec: int = 0
-    pub_time: bool | None = None
+    pub_time: bool = False
+    update_log_time: bool = False
+    update_publish_time: bool = False
 
 
-def time_offset_stamp(cfg: SettingTimeOffset, publish_time_ns: int, stamp: TimeMsg):
-    pub_time = cfg.pub_time
-    off_sec = cfg.sec
-    off_nanosec = cfg.nanosec
-
-    if pub_time is True:
-        header_sec = publish_time_ns // 1e9
-        header_nanosec = publish_time_ns % int(1e9)
+def time_offset_stamp(cfg: SettingTimeOffset, message: Message, stamp: TimeMsg):
+    if cfg.pub_time:
+        stamp_nano = message.publish_time
     else:
-        header_sec = int(stamp.sec)
-        header_nanosec = int(stamp.nanosec)
+        stamp_nano = int(stamp.sec * 1e9) + int(stamp.nanosec)
+
+    stamp_nano += cfg.sec
+    stamp_nano += int(cfg.nanosec * 1e9)
+
+    sec = int(stamp_nano // 1e9)
+    nanosec = stamp_nano - (sec * 1e9)
 
-    header_nanosec += off_nanosec
+    stamp.sec = sec
+    stamp.nanosec = nanosec
 
-    # handle nanosec under & overflow
-    if header_nanosec < 0:
-        header_nanosec += int(1e9)
-        header_sec -= 1
-    elif header_nanosec >= int(1e9):
-        header_nanosec -= int(1e9)
-        header_sec += 1
+    if cfg.update_publish_time:
+        message.publish_time = stamp_nano
 
-    stamp.nanosec = header_nanosec
-    stamp.sec = header_sec + off_sec
+    if cfg.update_log_time:
+        message.log_time = stamp_nano
 
 
-def time_offset_rec(cfg: SettingTimeOffset, publish_time_ns: int, msg: Any):
+def time_offset_rec(cfg: SettingTimeOffset, message: Message, msg: Any):
     if not hasattr(msg, '__slots__'):
         return
 
@@ -70,20 +71,20 @@ def time_offset_rec(cfg: SettingTimeOffset, publish_time_ns: int, msg: Any):
 
         if isinstance(attr, list):
             for i in attr:
-                time_offset_rec(cfg, publish_time_ns, i)
+                time_offset_rec(cfg, message, i)
 
         if 'mcap_ros2._dynamic.Time' in str(type(attr)):
-            time_offset_stamp(cfg, publish_time_ns, attr)
+            time_offset_stamp(cfg, message, attr)
         else:
-            time_offset_rec(cfg, publish_time_ns, attr)
+            time_offset_rec(cfg, message, attr)
 
 
 def time_offset(cfg: SettingTimeOffset, msg: DecodedMessageTuple):
     """Apply time offset to the message."""
-    schema, channel, message, ros_msg = msg
+    ros_msg = msg.decoded_message
     if not hasattr(msg, '__slots__'):
         return
-    time_offset_rec(cfg, message.publish_time_ns, ros_msg)
+    time_offset_rec(cfg, msg.message, ros_msg)
 
 
 def fix_ros1_time(msg: Any):