Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[Iron] Add topics with zero message counts to the SQLiteStorage::get_metadata(). (backport #1722) #1766

Merged
merged 2 commits into from
Aug 10, 2024
Merged

[Iron] Add topics with zero message counts to the SQLiteStorage::get_metadata(). (backport #1722) #1766

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c3c3afe
[Humble] Add topics with zero message counts to the SQLiteStorage::ge…
MichaelOrlov Jul 26, 2024
f4c520a
Address merge conflicts
MichaelOrlov Aug 9, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 32 additions & 0 deletions rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,38 @@ 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,
Expand Down
47 changes: 37 additions & 10 deletions rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@

#include <sys/stat.h>

#include <algorithm>
#include <atomic>
#include <chrono>
#include <cstring>
Expand Down Expand Up @@ -666,6 +667,14 @@ void SqliteStorage::read_metadata()
rcutils_time_point_value_t min_time = INT64_MAX;
rcutils_time_point_value_t max_time = 0;

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 =
Expand All @@ -680,12 +689,21 @@ void SqliteStorage::read_metadata()
rcutils_time_point_value_t, std::string, std::string>();

for (auto result : query_results) {
metadata_.topics_with_message_count.push_back(
{
{std::get<0>(result), std::get<1>(result), std::get<2>(result), std::get<6>(
result), std::get<7>(result)},
static_cast<size_t>(std::get<3>(result))
const rosbag2_storage::TopicMetadata topic_metadata{std::get<0>(result),
std::get<1>(result), std::get<2>(result), std::get<6>(result), std::get<7>(result)};
auto & topics_list = metadata_.topics_with_message_count;
auto it = std::find_if(
topics_list.begin(), topics_list.end(),
[&topic_metadata = topic_metadata](const rosbag2_storage::TopicInformation & topic_info) {
return topic_info.topic_metadata == topic_metadata;
});
if (it != topics_list.end()) {
it->message_count = static_cast<size_t>(std::get<3>(result));
} else {
metadata_.topics_with_message_count.push_back(
{topic_metadata, static_cast<size_t>(std::get<3>(result))}
);
}

metadata_.message_count += std::get<3>(result);
min_time = std::get<4>(result) < min_time ? std::get<4>(result) : min_time;
Expand Down Expand Up @@ -728,12 +746,21 @@ void SqliteStorage::read_metadata()
rcutils_time_point_value_t>();

for (auto result : query_results) {
metadata_.topics_with_message_count.push_back(
{
{std::get<0>(result), std::get<1>(result), std::get<2>(
result), "", ""},
static_cast<size_t>(std::get<3>(result))
const rosbag2_storage::TopicMetadata topic_metadata{std::get<0>(result),
std::get<1>(result), std::get<2>(result), "", ""};
auto & topics_list = metadata_.topics_with_message_count;
auto it = std::find_if(
topics_list.begin(), topics_list.end(),
[&topic_metadata = topic_metadata](const rosbag2_storage::TopicInformation & topic_info) {
return topic_info.topic_metadata == topic_metadata;
});
if (it != topics_list.end()) {
it->message_count = static_cast<size_t>(std::get<3>(result));
} else {
metadata_.topics_with_message_count.push_back(
{topic_metadata, static_cast<size_t>(std::get<3>(result))}
);
}

metadata_.message_count += std::get<3>(result);
min_time = std::get<4>(result) < min_time ? std::get<4>(result) : min_time;
Expand Down
Loading