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Implement changes in io interfaces #7

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merged 5 commits into from Nov 12, 2019
Merged

Implement changes in io interfaces #7

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04627f8
Implement changes in io interfaces
zmichaels11 Oct 22, 2019
87a6865
Include method documentation for get_identifier on RosbagV2Storage
zmichaels11 Oct 23, 2019
e434fbc
Made identifier a constant
zmichaels11 Oct 23, 2019
1146fee
Update rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosb…
zmichaels11 Oct 23, 2019
06626c8
Support IO interface changes
zmichaels11 Oct 25, 2019
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28 changes: 23 additions & 5 deletions rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.cpp
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Expand Up @@ -30,6 +30,11 @@
namespace rosbag2_bag_v2_plugins
{

namespace
{
constexpr const char * const IDENTIFIER = "rosbag_v2";
}

RosbagV2Storage::RosbagV2Storage()
: ros_v2_bag_(std::make_unique<rosbag::Bag>()), bag_view_of_replayable_messages_(nullptr) {}

Expand Down Expand Up @@ -104,16 +109,29 @@ std::vector<rosbag2_storage::TopicMetadata> RosbagV2Storage::get_all_topics_and_
return topics_with_type;
}

std::string RosbagV2Storage::get_storage_identifier() const
{
return IDENTIFIER;
}

uint64_t RosbagV2Storage::get_bagfile_size() const
{
return rosbag2_storage::FilesystemHelper::get_file_size(ros_v2_bag_->getFileName());
}

std::string RosbagV2Storage::get_relative_path() const
{
return rosbag2_storage::FilesystemHelper::get_file_name(ros_v2_bag_->getFileName());
}

rosbag2_storage::BagMetadata RosbagV2Storage::get_metadata()
{
auto bag_view = std::make_unique<rosbag::View>(*ros_v2_bag_);
auto full_file_path = ros_v2_bag_->getFileName();
rosbag2_storage::BagMetadata metadata;
metadata.storage_identifier = "rosbag_v2";
metadata.bag_size = rosbag2_storage::FilesystemHelper::get_file_size(full_file_path);
metadata.relative_file_paths = {
rosbag2_storage::FilesystemHelper::get_file_name(full_file_path)
};
metadata.storage_identifier = get_storage_identifier();
metadata.bag_size = get_bagfile_size();
metadata.relative_file_paths = {get_relative_path()};
metadata.duration = std::chrono::nanoseconds(
bag_view->getEndTime().toNSec() - bag_view->getBeginTime().toNSec());
metadata.starting_time = std::chrono::time_point<std::chrono::high_resolution_clock>(
Expand Down
10 changes: 10 additions & 0 deletions rosbag2_bag_v2_plugins/src/rosbag2_bag_v2_plugins/storage/rosbag_v2_storage.hpp
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Expand Up @@ -43,6 +43,16 @@ class RosbagV2Storage : public rosbag2_storage::storage_interfaces::ReadOnlyInte

rosbag2_storage::BagMetadata get_metadata() override;

uint64_t get_bagfile_size() const override;
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std::string get_relative_path() const override;

/**
* Returns the identifier for the rosbag_v2 plugin.
* \returns the identifier "rosbag_v2"
*/
std::string get_storage_identifier() const override;
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private:
template<typename T>
bool vector_has_already_element(std::vector<T> vector, const T & element)
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2 changes: 1 addition & 1 deletion rosbag2_bag_v2_plugins/test/rosbag2_bag_v2_plugins/test_rosbag_v2_storage.cpp
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Expand Up @@ -76,7 +76,7 @@ TEST_F(RosbagV2StorageTestFixture, get_metadata_returns_bagfile_description)

auto bag_metadata = storage_->get_metadata();

EXPECT_THAT(bag_metadata.version, Eq(1));
EXPECT_THAT(bag_metadata.version, Eq(2));
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EXPECT_THAT(bag_metadata.storage_identifier, StrEq("rosbag_v2"));
EXPECT_THAT(bag_metadata.bag_size, Eq(9023u));
EXPECT_THAT(bag_metadata.relative_file_paths, ElementsAre("test_bag.bag"));
Expand Down