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Add topics with zero message counts to the SQLiteStorage::get_metadata(). #1725

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merged 6 commits into from
Jun 26, 2024
Merged

Add topics with zero message counts to the SQLiteStorage::get_metadata(). #1725

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a842689
storage_sqlite3 constructs metadata with topics don't have any messages.
fujitatomoya Jun 22, 2024
1bb606e
Revert "storage_sqlite3 constructs metadata with topics don't have an…
fujitatomoya Jun 24, 2024
1ab0cc2
update metadata list topics that does not have any messages.
fujitatomoya Jun 24, 2024
5e6843a
add get_metadata_include_topics_with_zero_messages test
fujitatomoya Jun 24, 2024
9272e5b
add std_msgs to rosbag2_cpp for test build.
fujitatomoya Jun 25, 2024
1708c92
call get_or_generate_extern_topic_id when updating metadata.
fujitatomoya Jun 25, 2024
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37 changes: 23 additions & 14 deletions rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -815,10 +815,10 @@ void SqliteStorage::read_metadata()
if (database_->field_exists("topics", "offered_qos_profiles")) {
if (database_->field_exists("topics", "type_description_hash")) {
std::string query =
"SELECT messages.topic_id, name, type, serialization_format, COUNT(messages.id), "
"SELECT topics.id, name, type, serialization_format, COUNT(messages.id), "
"MIN(messages.timestamp), MAX(messages.timestamp), offered_qos_profiles, "
"type_description_hash FROM messages JOIN topics on topics.id = messages.topic_id "
"GROUP BY topics.name;";
"type_description_hash FROM topics LEFT OUTER JOIN messages on "
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"topics.id = messages.topic_id GROUP BY topics.name;";

auto statement = database_->prepare_statement(query);
auto query_results = statement->execute_query<
Expand All @@ -833,14 +833,17 @@ void SqliteStorage::read_metadata()
inner_topic_id, topic_name, topic_type, ser_format, msg_count,
offered_qos_profiles_str, type_hash);

min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
if (msg_count != 0) {
// if messages table does not have any data, query result is empty, so should skip.
min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
}
}
} else { // Without type_hash
std::string query =
"SELECT messages.topic_id, name, type, serialization_format, COUNT(messages.id), "
"SELECT topics.id, name, type, serialization_format, COUNT(messages.id), "
"MIN(messages.timestamp), MAX(messages.timestamp), offered_qos_profiles "
"FROM messages JOIN topics on topics.id = messages.topic_id "
"FROM topics LEFT OUTER JOIN messages on topics.id = messages.topic_id "
"GROUP BY topics.name;";

auto statement = database_->prepare_statement(query);
Expand All @@ -855,15 +858,18 @@ void SqliteStorage::read_metadata()
inner_topic_id, topic_name, topic_type, ser_format, msg_count,
offered_qos_profiles_str, "");

min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
if (msg_count != 0) {
// if messages table does not have any data, query result is empty, so should skip.
min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
}
}
}
} else { // No offered_qos_profiles and no type_hash
std::string query =
"SELECT messages.topic_id, name, type, serialization_format, COUNT(messages.id), "
"MIN(messages.timestamp), MAX(messages.timestamp) "
"FROM messages JOIN topics on topics.id = messages.topic_id "
"SELECT topics.id, name, type, serialization_format, COUNT(messages.id), "
"MIN(messages.timestamp), MAX(messages.timestamp) FROM topics "
"LEFT OUTER JOIN messages on topics.id = messages.topic_id "
"GROUP BY topics.name;";
auto statement = database_->prepare_statement(query);
auto query_results = statement->execute_query<int64_t, std::string, std::string,
Expand All @@ -874,8 +880,11 @@ void SqliteStorage::read_metadata()
{
add_topic_to_metadata(inner_topic_id, topic_name, topic_type, ser_format, msg_count, "", "");

min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
if (msg_count != 0) {
// if messages table does not have any data, query result is empty, so should skip.
min_time = min_recv_timestamp < min_time ? min_recv_timestamp : min_time;
max_time = max_recv_timestamp > max_time ? max_recv_timestamp : max_time;
}
}
}

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