Add topics with zero message counts to the SQLiteStorage::get_metadat…

…a(). (#1725) (#1731) * storage_sqlite3 constructs metadata with topics don't have any messages. Signed-off-by: Tomoya Fujita <[email protected]> * Revert "storage_sqlite3 constructs metadata with topics don't have any messages." This reverts commit a842689. Signed-off-by: Tomoya Fujita <[email protected]> * update metadata list topics that does not have any messages. Signed-off-by: Tomoya Fujita <[email protected]> * add get_metadata_include_topics_with_zero_messages test Signed-off-by: Tomoya Fujita <[email protected]> Co-authored-by: Michael Orlov <[email protected]> * add std_msgs to rosbag2_cpp for test build. Signed-off-by: Tomoya Fujita <[email protected]> * call get_or_generate_extern_topic_id when updating metadata. Signed-off-by: Tomoya Fujita <[email protected]> --------- Signed-off-by: Tomoya Fujita <[email protected]> Co-authored-by: Michael Orlov <[email protected]> (cherry picked from commit ff829e8) Co-authored-by: Tomoya Fujita <[email protected]> (cherry picked from commit 2a627c9) # Conflicts: # rosbag2_cpp/CMakeLists.txt # rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
ros2 · Aug 9, 2024 · 6c17288 · 6c17288
1 parent adffc7e
commit 6c17288
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diff --git a/rosbag2_cpp/CMakeLists.txt b/rosbag2_cpp/CMakeLists.txt
@@ -134,6 +134,7 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(test_msgs REQUIRED)
+  find_package(std_msgs REQUIRED)
   find_package(rosbag2_test_msgdefs REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
@@ -177,8 +178,18 @@ if(BUILD_TESTING)
   ament_add_gmock(test_sequential_reader
     test/rosbag2_cpp/test_sequential_reader.cpp test/rosbag2_cpp/fake_data.cpp)
   if(TARGET test_sequential_reader)
+<<<<<<< HEAD
     ament_target_dependencies(test_sequential_reader rosbag2_storage rosbag2_test_common test_msgs)
     target_link_libraries(test_sequential_reader ${PROJECT_NAME})
+=======
+    target_link_libraries(test_sequential_reader
+      ${PROJECT_NAME}
+      rosbag2_storage::rosbag2_storage
+      rosbag2_test_common::rosbag2_test_common
+      ${test_msgs_TARGETS}
+      ${std_msgs_TARGETS}
+    )
+>>>>>>> 2a627c91 (Add topics with zero message counts to the SQLiteStorage::get_metadata(). (#1725) (#1731))
   endif()
 
   ament_add_gmock(test_storage_without_metadata_file

diff --git a/rosbag2_cpp/package.xml b/rosbag2_cpp/package.xml
@@ -31,6 +31,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>test_msgs</test_depend>
+  <test_depend>std_msgs</test_depend>
   <test_depend>rosbag2_test_common</test_depend>
   <test_depend>rosbag2_test_msgdefs</test_depend>
 

diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
@@ -33,6 +33,7 @@
 #include "rosbag2_test_common/tested_storage_ids.hpp"
 #include "rosbag2_test_common/temporary_directory_fixture.hpp"
 
+#include "std_msgs/msg/string.hpp"
 #include "test_msgs/msg/basic_types.hpp"
 
 #include "fake_data.hpp"
@@ -246,6 +247,38 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, reader_accepts_bare_file) {
   EXPECT_THAT(reader.get_metadata().topics_with_message_count, SizeIs(1));
 }
 
+TEST_P(ParametrizedTemporaryDirectoryFixture, get_metadata_include_topics_with_zero_messages) {
+  const auto bag_path = rcpputils::fs::path(temporary_dir_path_) / "bag_with_no_msgs";
+  const std::string topic_name = "topic_with_0_messages";
+  const auto storage_id = GetParam();
+  {
+    rosbag2_storage::TopicMetadata topic_metadata;
+    topic_metadata.name = topic_name;
+    topic_metadata.type = "std_msgs/msg/String";
+
+    rosbag2_cpp::Writer writer;
+    rosbag2_storage::StorageOptions options;
+    options.uri = bag_path.string();
+    options.storage_id = storage_id;
+    writer.open(options);
+    writer.create_topic(topic_metadata);
+  }
+
+  rosbag2_storage::MetadataIo metadata_io;
+  ASSERT_TRUE(metadata_io.metadata_file_exists(bag_path.string()));
+  auto metadata_from_yaml = metadata_io.read_metadata(bag_path.string());
+  auto first_storage = bag_path / metadata_from_yaml.relative_file_paths[0];
+
+  rosbag2_storage::StorageFactory factory;
+  rosbag2_storage::StorageOptions options;
+  options.uri = first_storage.string();
+  options.storage_id = storage_id;
+  auto reader = factory.open_read_only(options);
+  auto metadata = reader->get_metadata();
+  ASSERT_THAT(metadata.topics_with_message_count, SizeIs(1));
+  EXPECT_EQ(metadata.topics_with_message_count[0].message_count, 0U);
+}
+
 INSTANTIATE_TEST_SUITE_P(
   BareFileTests,
   ParametrizedTemporaryDirectoryFixture,

diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -636,6 +636,42 @@ uint64_t SqliteStorage::get_minimum_split_file_size() const
   return MIN_SPLIT_FILE_SIZE;
 }
 
+<<<<<<< HEAD
+=======
+void SqliteStorage::add_topic_to_metadata(
+  int64_t inner_topic_id, std::string topic_name, std::string topic_type, std::string ser_format,
+  int64_t msg_count, const std::string & offered_qos_profiles_str, const std::string & type_hash)
+{
+  auto offered_qos_profiles = rosbag2_storage::to_rclcpp_qos_vector(
+    // Before db_schema_version_ = 3 we didn't store metadata in the database and real
+    // metadata_.version will be lower than 9
+    offered_qos_profiles_str, (db_schema_version_ >= 3) ? metadata_.version : 8);
+  const rosbag2_storage::TopicMetadata topic_metadata {
+    get_or_generate_extern_topic_id(inner_topic_id), topic_name, topic_type, ser_format,
+    offered_qos_profiles, type_hash};
+  auto & topics_list = metadata_.topics_with_message_count;
+  auto it = std::find_if(
+    topics_list.begin(), topics_list.end(),
+    [&](const rosbag2_storage::TopicInformation & topic_info) {
+      return topic_info.topic_metadata == topic_metadata;
+    });
+  if (it != topics_list.end()) {
+    it->message_count = msg_count;
+  } else {
+    metadata_.topics_with_message_count.push_back(
+      {
+        {
+          get_or_generate_extern_topic_id(inner_topic_id), topic_name, topic_type, ser_format,
+          offered_qos_profiles, type_hash
+        },
+        static_cast<size_t>(msg_count)
+      });
+  }
+
+  metadata_.message_count += msg_count;
+}
+
+>>>>>>> 2a627c91 (Add topics with zero message counts to the SQLiteStorage::get_metadata(). (#1725) (#1731))
 void SqliteStorage::read_metadata()
 {
   std::vector<rosbag2_storage::BagMetadata> metadata_from_table;
@@ -666,6 +702,15 @@ void SqliteStorage::read_metadata()
   rcutils_time_point_value_t min_time = INT64_MAX;
   rcutils_time_point_value_t max_time = 0;
 
+  // fill in all topics and types even those do not have any messages
+  if (all_topics_and_types_.empty()) {
+    fill_topics_and_types();
+  }
+  metadata_.topics_with_message_count.reserve(all_topics_and_types_.size());
+  for (const auto & topic_metadata : all_topics_and_types_) {
+    metadata_.topics_with_message_count.push_back({topic_metadata, 0});
+  }
+
   if (database_->field_exists("topics", "offered_qos_profiles")) {
     if (database_->field_exists("topics", "type_description_hash")) {
       std::string query =