Split converters #70
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Split converters #70
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- Allow plugins which can only read or write - Most important example: plugin for old rosbags
- When loading a serializer, try to load both serializer and converter - Similar for deserializers
- adapt namespaces to folder structure - folder structure similar to rosbag2_storage
- We want to use template functions that require the pluginlib import - The pluginlib import should not be exported (this creates issues with downstream packages) - Similar to the storage factory, use a pimpl
Karsten1987
approved these changes
Dec 6, 2018
| namespace converter_interfaces | ||
| { | ||
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| class SerializationFormatConverterInterface |
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given that we have interfaces in the namespace, we could maybe rename SerializationFormatConverterInterface to only SerializationFormatConverter.
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Sounds good to me. Done.
Co-Authored-By: Martin-Idel-SI <external.Martin.Idel@bosch-si.com>
- already visible from namespace
sriramster
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Feb 28, 2019
* ros2GH-69 Read storage content in a separate thread For now the publishing starts only after the reading is completly done. This should change aufter ros2GH-68 is done and a thread-safe queue can be used instead of std::queue. * ros2GH-71 Add integration test for timing behavior * ros2GH-68 Introduce vendor package for shared queue - Download and install headers from moodycamel readerwriterqueue - Download and install headers from moodycamel concurrentqueue - Use readerwriterqueue in code to load and publish concurrently * ros2GH-71 Retain time difference of messages when playing a bag file - The main (play) thread sleeps until the time for publishing the message is reached. - Using std::chrono time_point and duration for type-safe time arithmetic instead of rcutils time types. * ros2GH-71 Improve stability of read test - Subscribers need to maintain a longer history if the messages are not consumed fast enough. * ros2GH-71 Fix Classloader instance lifetime The Classloader instance needs to outlive all objects created by it. * ros2GH-71 Extract playing code into a class of its own Reason: record and play have almost no common code but do the exact opposite with the storage and rclcpp. * ros2GH-70 Do not link explicitly against std_msgs - only required in tests - this decreases the amount of packages needed for a clean build without tests * ros2GH-70 Fix error message of storage * ros2GH-70 Fix pluginlib/storage issue for recording * ros2GH-71 Cleanup: variable naming * ros2GH-70 Load storage continuously instead of as fast as possible - Only load if queue contains less than 1000 messages - Wait a millisecond before loading again once the queue is long enough * ros2GH-70 Add options struct to allow specification of queue size * ros2GH-72 Wait for messages to fill up * ros2GH-74 Rename integration tests to play/record tests * ros2GH-74 Use test_msgs in integration tests - gets rid of string_msgs dependency * ros2GH-70 Rename is_not_ready to is_pending, use bulk reading to queue * ros2GH-70 Harmonize storage_loading_future variable * ros2GH-88 Read messages in order of their timestamps - Currently, we write sequentially in order of arrival time so reading in id order is fine - This may change at a later time and should not change the reading behaviour, i.e. we need to read in order of timestamps * Fix compiler error on Mac * ros2GH-8 Fix: use correct ros message type in test * ros2GH-8 Cleanup: minor code style fixes * ros2GH-8 Refactor future usage in player Make the future a class member of player to avoid having to hand it into several functions which is difficult with a move-only type. * ros2GH-8 Cleanup: remove verbose logging for every stored message * ros2GH-8 Refactor rosbag2 interface Add an explicit overload for record without a topic_names argument to record all topics. * fix: call vector.reserve instead of default initalization * fix record demo
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This PR splits the converter interfaces into two interfaces: A serializer and a deserializer. This allows to have plugins which only support converting to OR from a custom serialization format (such as the plugin for old rosbags).
The changes also mimic the storage_interface architecture:
The main change is the
serialization_format_converter_factoryand its impl file as well as the usage inconverter.cpp.In addition, the error message if a converter is missing was changed (see end to end test for an example).
CI: