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topic_filter.cpp
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topic_filter.cpp
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// Copyright 2021, Bosch Software Innovations GmbH.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <algorithm>
#include <map>
#include <regex>
#include <string>
#include <utility>
#include <vector>
#include <unordered_map>
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rcpputils/split.hpp"
#include "rosbag2_cpp/typesupport_helpers.hpp"
#include "rosbag2_cpp/service_utils.hpp"
#include "logging.hpp"
#include "rosbag2_transport/topic_filter.hpp"
namespace
{
inline bool has_single_type(
const std::string & topic_name, const std::vector<std::string> & topic_types)
{
if (topic_types.empty()) {
ROSBAG2_TRANSPORT_LOG_WARN_STREAM(
"Topic " << topic_name << " has no associated types. "
"This case shouldn't occur.");
return false;
}
auto it = topic_types.begin();
const std::string & reference_type = *it;
for (; it != topic_types.end(); it++) {
if (reference_type != *it) {
ROSBAG2_TRANSPORT_LOG_ERROR_STREAM(
"Topic '" << topic_name <<
"' has more than one type associated. Only topics with one type are supported");
return false;
}
}
return true;
}
inline bool topic_is_hidden(const std::string & topic_name)
{
// According to rclpy's implementation, the indicator for a hidden topic is a leading '_'
// https://github.com/ros2/rclpy/blob/master/rclpy/rclpy/topic_or_service_is_hidden.py#L15
auto tokens = rcpputils::split(topic_name, '/', true); // skip empty
auto hidden_it = std::find_if(
tokens.begin(), tokens.end(), [](const auto & token) -> bool {
return token[0] == '_';
});
return hidden_it != tokens.end();
}
inline bool topic_in_list(const std::string & topic_name, const std::vector<std::string> & topics)
{
auto it = std::find(topics.begin(), topics.end(), topic_name);
return it != topics.end();
}
inline
bool topic_type_in_list(const std::string & type_name, const std::vector<std::string> & topic_types)
{
auto it = std::find(topic_types.begin(), topic_types.end(), type_name);
return it != topic_types.end();
}
inline bool topic_is_unpublished(
const std::string & topic_name, rclcpp::node_interfaces::NodeGraphInterface & node_graph)
{
auto publishers_info = node_graph.get_publishers_info_by_topic(topic_name);
return publishers_info.empty();
}
inline bool is_leaf_topic(
const std::string & topic_name, rclcpp::node_interfaces::NodeGraphInterface & node_graph)
{
auto subscriptions_info = node_graph.get_subscriptions_info_by_topic(topic_name);
return subscriptions_info.empty();
}
} // namespace
namespace rosbag2_transport
{
TopicFilter::TopicFilter(
RecordOptions record_options,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
bool allow_unknown_types)
: record_options_(std::move(record_options)),
allow_unknown_types_(allow_unknown_types),
node_graph_(node_graph)
{}
TopicFilter::~TopicFilter() = default;
std::unordered_map<std::string, std::string> TopicFilter::filter_topics(
const std::map<std::string, std::vector<std::string>> & topic_names_and_types)
{
std::unordered_map<std::string, std::string> filtered_topics;
for (const auto & [topic_name, topic_types] : topic_names_and_types) {
if (take_topic(topic_name, topic_types)) {
filtered_topics.insert(std::make_pair(topic_name, topic_types[0]));
}
}
return filtered_topics;
}
bool TopicFilter::take_topic(
const std::string & topic_name, const std::vector<std::string> & topic_types)
{
if (!has_single_type(topic_name, topic_types)) {
return false;
}
const std::string & topic_type = topic_types[0];
bool is_service_event_topic = rosbag2_cpp::is_service_event_topic(topic_name, topic_type);
if (!record_options_.include_unpublished_topics && node_graph_ &&
topic_is_unpublished(topic_name, *node_graph_))
{
return false;
}
if (record_options_.ignore_leaf_topics && node_graph_ &&
is_leaf_topic(topic_name, *node_graph_))
{
return false;
}
if (!is_service_event_topic) {
if (!record_options_.all_topics &&
record_options_.topics.empty() &&
record_options_.topic_types.empty() &&
record_options_.regex.empty() &&
!record_options_.include_hidden_topics)
{
// Note: This check is needed to avoid extra checks in case if only services (not topics)
// needs to be selected.
return false;
}
if (!record_options_.all_topics) {
// Not in include topic list. Note: all_topics shall override include topic lists
if (!topic_in_list(topic_name, record_options_.topics) &&
!topic_type_in_list(topic_type, record_options_.topic_types))
{
// Not match include regex
if (!record_options_.regex.empty()) {
std::regex include_regex(record_options_.regex);
if (!std::regex_search(topic_name, include_regex)) {
return false;
}
} else {
return false;
}
}
}
if (topic_type_in_list(topic_type, record_options_.exclude_topic_types)) {
return false;
}
if (topic_in_list(topic_name, record_options_.exclude_topics)) {
return false;
}
if (!record_options_.exclude_regex.empty()) {
std::regex exclude_regex(record_options_.exclude_regex);
if (std::regex_search(topic_name, exclude_regex)) {
return false;
}
}
if (!record_options_.include_hidden_topics && topic_is_hidden(topic_name)) {
RCUTILS_LOG_WARN_ONCE_NAMED(
ROSBAG2_TRANSPORT_PACKAGE_NAME,
"Hidden topics are not recorded. Enable them with --include-hidden-topics");
return false;
}
} else {
if (!record_options_.all_services &&
record_options_.services.empty() &&
record_options_.regex.empty())
{
// Note: This check is needed to avoid extra checks and service name conversion in case
// if only topics (not services) needs to be selected.
return false;
}
// Convert service event topic name to service name
auto service_name = rosbag2_cpp::service_event_topic_name_to_service_name(topic_name);
if (!record_options_.all_services) {
// Not in include service list
if (!topic_in_list(topic_name, record_options_.services)) {
// Not match include regex
if (!record_options_.regex.empty()) {
std::regex include_regex(record_options_.regex);
if (!std::regex_search(service_name, include_regex)) {
return false;
}
} else {
return false;
}
}
}
if (topic_in_list(topic_name, record_options_.exclude_service_events)) {
return false;
}
if (!record_options_.exclude_regex.empty()) {
std::regex exclude_regex(record_options_.exclude_regex);
if (std::regex_search(service_name, exclude_regex)) {
return false;
}
}
}
if (!allow_unknown_types_ && !type_is_known(topic_name, topic_type)) {
return false;
}
return true;
}
bool TopicFilter::type_is_known(const std::string & topic_name, const std::string & topic_type)
{
try {
auto package_name = std::get<0>(rosbag2_cpp::extract_type_identifier(topic_type));
rosbag2_cpp::get_typesupport_library_path(package_name, "rosidl_typesupport_cpp");
} catch (std::runtime_error & e) {
if (already_warned_unknown_types_.find(topic_type) == already_warned_unknown_types_.end()) {
already_warned_unknown_types_.emplace(topic_type);
ROSBAG2_TRANSPORT_LOG_WARN_STREAM(
"Topic '" << topic_name <<
"' has unknown type '" << topic_type <<
"' . Only topics with known type are supported. Reason: '" << e.what());
}
return false;
}
return true;
}
} // namespace rosbag2_transport