Design abstract storage interface #8
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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.
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Add an explicit overload for record without a topic_names argument to record all topics.
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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.
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Add an explicit overload for record without a topic_names argument to record all topics.
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* GH-69 Read storage content in a separate thread For now the publishing starts only after the reading is completly done. This should change aufter GH-68 is done and a thread-safe queue can be used instead of std::queue. * GH-71 Add integration test for timing behavior * GH-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 * GH-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. * GH-71 Improve stability of read test - Subscribers need to maintain a longer history if the messages are not consumed fast enough. * GH-71 Fix Classloader instance lifetime The Classloader instance needs to outlive all objects created by it. * GH-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. * GH-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 * GH-70 Fix error message of storage * GH-70 Fix pluginlib/storage issue for recording * GH-71 Cleanup: variable naming * GH-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 * GH-70 Add options struct to allow specification of queue size * GH-72 Wait for messages to fill up * GH-74 Rename integration tests to play/record tests * GH-74 Use test_msgs in integration tests - gets rid of string_msgs dependency * GH-70 Rename is_not_ready to is_pending, use bulk reading to queue * GH-70 Harmonize storage_loading_future variable * GH-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 * GH-8 Fix: use correct ros message type in test * GH-8 Cleanup: minor code style fixes * GH-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. * GH-8 Cleanup: remove verbose logging for every stored message * GH-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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Set the API for an abstract storage interface.
See the ros2/design#160 for reference.
The idea is to have a generic, common API to support multiple storage formats (sqlite, ros1bags, ...) to load binary data and the respective meta data to convert it later on to a functional ROS 2 message.
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