Add bz2 decompression support with compressjs (cruise-automation#316)

We already proved that compressjs works as a bz2 decoder in the rosbag.js tests: https://github.com/cruise-automation/rosbag.js/blob/68526faa242bb76943b6e42fa452f1eadb6cbc73/src/bag.test.js#L175-L178 But it wasn't imported in webviz, so bz2-compressed bags (such as the ones at https://vision.in.tum.de/data/datasets/rgbd-dataset/download#freiburg3_cabinet) didn't work by default.

It was almost very straightforward to add, except that a webpack/AMD module issue (webpack/webpack#5316) prevents us from actually using compressjs in our webpack build. I worked around it by using a string-replace-loader to just remove the offending line. It's a pretty horrible hack, but it works...let me know if you have any better suggestions.

package.json

@@ -101,6 +101,7 @@
     "seedrandom": "^2.4.4",
     "sinon": "^7.1.1",
     "storybook-chrome-screenshot": "^1.4.0",
+    "string-replace-loader": "^2.2.0",
     "style-loader": "^0.23.1",
     "styled-components": "4.4.1",
     "terser-webpack-plugin": "^1.1.0",

packages/webviz-core/package.json

@@ -15,6 +15,7 @@
     "chartjs-plugin-datalabels": "0.4.0",
     "chartjs-plugin-zoom": "0.6.6",
     "classnames": "2.2.6",
+    "compressjs": "1.0.3",
     "connected-react-router": "6.5.2",
     "downshift": "4.0.1",
     "fuzzysort": "1.1.4",

packages/webviz-core/src/dataProviders/BagDataProvider.js

@@ -6,6 +6,7 @@
 //  found in the LICENSE file in the root directory of this source tree.
 //  You may not use this file except in compliance with the License.
 
+import Bzip2 from "compressjs/lib/Bzip2";
 import { keyBy } from "lodash";
 import Bag, { open, Time, BagReader } from "rosbag";
 import decompress from "wasm-lz4";
@@ -115,7 +116,16 @@ export default class BagDataProvider implements DataProvider {
         message: data.buffer.slice(data.byteOffset, data.byteOffset + data.length),
       });
     };
-    const options = { topics, startTime: start, endTime: end, noParse: true, decompress: { lz4: decompress } };
+    const options = {
+      topics,
+      startTime: start,
+      endTime: end,
+      noParse: true,
+      decompress: {
+        bz2: (buffer: Buffer) => Buffer.from(Bzip2.decompressFile(buffer)),
+        lz4: decompress,
+      },
+    };
     await this._bag.readMessages(options, onMessage);
     return messages;
   }

packages/webviz-core/src/dataProviders/BagDataProvider.test.js

@@ -49,6 +49,40 @@ describe("BagDataProvider", () => {
     ]);
   });
 
+  it("initializes with bz2 bag", async () => {
+    const provider = new BagDataProvider(
+      { bagPath: { type: "file", file: `${__dirname}/../../public/fixtures/example-bz2.bag` } },
+      []
+    );
+    const result = await provider.initialize(dummyExtensionPoint);
+    expect(result.start).toEqual({ sec: 1396293887, nsec: 844783943 });
+    expect(result.end).toEqual({ sec: 1396293909, nsec: 544870199 });
+    expect(result.topics).toContainOnly([
+      { datatype: "rosgraph_msgs/Log", name: "/rosout" },
+      { datatype: "turtlesim/Color", name: "/turtle1/color_sensor" },
+      { datatype: "tf2_msgs/TFMessage", name: "/tf_static" },
+      { datatype: "turtlesim/Color", name: "/turtle2/color_sensor" },
+      { datatype: "turtlesim/Pose", name: "/turtle1/pose" },
+      { datatype: "turtlesim/Pose", name: "/turtle2/pose" },
+      { datatype: "tf/tfMessage", name: "/tf" },
+      { datatype: "geometry_msgs/Twist", name: "/turtle2/cmd_vel" },
+      { datatype: "geometry_msgs/Twist", name: "/turtle1/cmd_vel" },
+    ]);
+    expect(Object.keys(result.datatypes)).toContainOnly([
+      "rosgraph_msgs/Log",
+      "std_msgs/Header",
+      "turtlesim/Color",
+      "tf2_msgs/TFMessage",
+      "geometry_msgs/TransformStamped",
+      "geometry_msgs/Transform",
+      "geometry_msgs/Vector3",
+      "geometry_msgs/Quaternion",
+      "turtlesim/Pose",
+      "tf/tfMessage",
+      "geometry_msgs/Twist",
+    ]);
+  });
+
   it("calls progress callback while initializing with a local bag", async () => {
     const provider = new BagDataProvider(
       { bagPath: { type: "file", file: `${__dirname}/../../public/fixtures/example.bag` } },

webpack.config.js

@@ -144,6 +144,14 @@ module.exports = {
       { test: /\.scss$/, loader: "sass-loader", options: { sourceMap: true } },
       { test: /\.woff2?$/, loader: "url-loader" },
       { test: /\.(glb|bag)$/, loader: "file-loader" },
+      {
+        test: /node_modules\/compressjs\/.*\.js/,
+        loader: "string-replace-loader",
+        options: {
+          search: "if (typeof define !== 'function') { var define = require('amdefine')(module); }",
+          replace: "/* webviz: removed broken amdefine shim (https://github.com/webpack/webpack/issues/5316) */",
+        },
+      },
     ],
   },
   optimization: {