Restructure cache interfaces and cleanup cache implementation

Signed-off-by: Cameron Miller <[email protected]>

rosbag2_cpp/include/rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp → rosbag2_cpp/include/rosbag2_cpp/cache/cache_buffer_interface.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2_CPP__CACHE_INTERFACES__BASE_CACHE_BUFFER_INTERFACE_HPP_
-#define ROSBAG2_CPP__CACHE_INTERFACES__BASE_CACHE_BUFFER_INTERFACE_HPP_
+#ifndef ROSBAG2_CPP__CACHE__CACHE_BUFFER_INTERFACE_HPP_
+#define ROSBAG2_CPP__CACHE__CACHE_BUFFER_INTERFACE_HPP_
 
 #include <memory>
 #include <vector>
@@ -23,14 +23,13 @@
 
 namespace rosbag2_cpp
 {
-using buffer_element_t = std::shared_ptr<const rosbag2_storage::SerializedBagMessage>;
-namespace cache_interfaces
+namespace cache
 {
-
-class ROSBAG2_CPP_PUBLIC BaseCacheBufferInterface
+using buffer_element_t = std::shared_ptr<const rosbag2_storage::SerializedBagMessage>;
+class ROSBAG2_CPP_PUBLIC CacheBufferInterface
 {
 public:
-  virtual ~BaseCacheBufferInterface() {}
+  virtual ~CacheBufferInterface() {}
 
   virtual bool push(buffer_element_t msg) = 0;
 
@@ -41,7 +40,7 @@ class ROSBAG2_CPP_PUBLIC BaseCacheBufferInterface
   virtual const std::vector<buffer_element_t> & data() = 0;
 };
 
-}  // namespace cache_interfaces
+}  // namespace cache
 }  // namespace rosbag2_cpp
 
-#endif  // ROSBAG2_CPP__CACHE_INTERFACES__BASE_CACHE_BUFFER_INTERFACE_HPP_
+#endif  // ROSBAG2_CPP__CACHE__CACHE_BUFFER_INTERFACE_HPP_

rosbag2_cpp/include/rosbag2_cpp/cache/cache_consumer.hpp

@@ -23,7 +23,7 @@
 #include <vector>
 
 #include "rosbag2_cpp/cache/message_cache.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp"
+#include "rosbag2_cpp/cache/message_cache_interface.hpp"
 
 // This is necessary because of using stl types here. It is completely safe, because
 // a) the member is not accessible from the outside
@@ -62,10 +62,10 @@ class ROSBAG2_CPP_PUBLIC CacheConsumer
 {
 public:
   using consume_callback_function_t = std::function<void (const
-      std::vector<rosbag2_cpp::buffer_element_t> &)>;
+      std::vector<buffer_element_t> &)>;
 
   CacheConsumer(
-    std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface> message_cache,
+    std::shared_ptr<MessageCacheInterface> message_cache,
     consume_callback_function_t consume_callback);
 
   ~CacheConsumer();
@@ -77,7 +77,7 @@ class ROSBAG2_CPP_PUBLIC CacheConsumer
   void change_consume_callback(consume_callback_function_t callback);
 
 private:
-  std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface> message_cache_;
+  std::shared_ptr<MessageCacheInterface> message_cache_;
   consume_callback_function_t consume_callback_;
 
   /// Write buffer data to a storage

rosbag2_cpp/include/rosbag2_cpp/cache/circular_message_cache.hpp

@@ -20,8 +20,8 @@
 #include <string>
 
 #include "rosbag2_cpp/cache/message_cache_circular_buffer.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/message_cache_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_cpp/visibility_control.hpp"
 
 #include "rosbag2_storage/serialized_bag_message.hpp"
@@ -40,7 +40,7 @@ namespace cache
 {
 
 class ROSBAG2_CPP_PUBLIC CircularMessageCache
-  : public rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface
+  : public MessageCacheInterface
 {
 public:
   explicit CircularMessageCache(uint64_t max_buffer_size);
@@ -49,8 +49,7 @@ class ROSBAG2_CPP_PUBLIC CircularMessageCache
   void push(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
 
   /// get current buffer to consume
-  std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface>
-  consumer_buffer() override;
+  std::shared_ptr<CacheBufferInterface> consumer_buffer() override;
 
   /// Swap the primary and secondary buffer before consumption.
   /// NOTE: consumer_buffer() should be called sequentially after

rosbag2_cpp/include/rosbag2_cpp/cache/message_cache.hpp

@@ -24,8 +24,8 @@
 #include <vector>
 
 #include "rosbag2_cpp/cache/message_cache_buffer.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/message_cache_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_cpp/visibility_control.hpp"
 
 #include "rosbag2_storage/serialized_bag_message.hpp"
@@ -62,7 +62,7 @@ namespace cache
 * performance issues, most likely with the CacheConsumer consumer callback.
 */
 class ROSBAG2_CPP_PUBLIC MessageCache
-  : public rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface
+  : public MessageCacheInterface
 {
 public:
   explicit MessageCache(uint64_t max_buffer_size);
@@ -91,8 +91,7 @@ class ROSBAG2_CPP_PUBLIC MessageCache
   void swap_buffers() override;
 
   /// Consumer API: get current buffer to consume
-  std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface>
-  consumer_buffer() override;
+  std::shared_ptr<CacheBufferInterface> consumer_buffer() override;
 
   /// Exposes counts of messages dropped per topic
   std::unordered_map<std::string, uint32_t> messages_dropped() const;

rosbag2_cpp/include/rosbag2_cpp/cache/message_cache_buffer.hpp

@@ -20,7 +20,7 @@
 #include <vector>
 
 #include "rosbag2_cpp/visibility_control.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 
 // This is necessary because of using stl types here. It is completely safe, because
@@ -46,7 +46,7 @@ namespace cache
 * ->byte_size() - like interface
 */
 class ROSBAG2_CPP_PUBLIC MessageCacheBuffer
-  : public rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface
+  : public CacheBufferInterface
 {
 public:
   explicit MessageCacheBuffer(const uint64_t max_cache_size);
@@ -56,7 +56,7 @@ class ROSBAG2_CPP_PUBLIC MessageCacheBuffer
   * this results in exceeding buffer size, we mark buffer to drop all new incoming messages.
   * This flag is cleared when buffers are swapped.
   */
-  bool push(rosbag2_cpp::buffer_element_t msg) override;
+  bool push(buffer_element_t msg) override;
 
   /// Clear buffer
   void clear() override;
@@ -65,10 +65,10 @@ class ROSBAG2_CPP_PUBLIC MessageCacheBuffer
   size_t size() override;
 
   /// Get buffer data
-  const std::vector<rosbag2_cpp::buffer_element_t> & data() override;
+  const std::vector<buffer_element_t> & data() override;
 
 private:
-  std::vector<rosbag2_cpp::buffer_element_t> buffer_;
+  std::vector<buffer_element_t> buffer_;
   uint64_t buffer_bytes_size_ {0u};
   const uint64_t max_bytes_size_;
 

rosbag2_cpp/include/rosbag2_cpp/cache/message_cache_circular_buffer.hpp

@@ -20,7 +20,7 @@
 #include <vector>
 
 #include "rosbag2_cpp/visibility_control.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 
 // This is necessary because of using stl types here. It is completely safe, because
@@ -46,7 +46,7 @@ namespace cache
 * size.
 */
 class ROSBAG2_CPP_PUBLIC MessageCacheCircularBuffer
-  : public rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface
+  : public CacheBufferInterface
 {
 public:
   // Delete default constructor since max_cache_size is required
@@ -57,7 +57,7 @@ class ROSBAG2_CPP_PUBLIC MessageCacheCircularBuffer
   * If buffer size has some space left, we push the message regardless of its size,
   *  but if this results in exceeding buffer size, we begin dropping old messages.
   */
-  bool push(rosbag2_cpp::buffer_element_t msg) override;
+  bool push(buffer_element_t msg) override;
 
   /// Clear buffer
   void clear() override;
@@ -66,11 +66,11 @@ class ROSBAG2_CPP_PUBLIC MessageCacheCircularBuffer
   size_t size() override;
 
   /// Get buffer data
-  const std::vector<rosbag2_cpp::buffer_element_t> & data() override;
+  const std::vector<buffer_element_t> & data() override;
 
 private:
-  std::deque<rosbag2_cpp::buffer_element_t> buffer_;
-  std::vector<rosbag2_cpp::buffer_element_t> msg_vector_;
+  std::deque<buffer_element_t> buffer_;
+  std::vector<buffer_element_t> msg_vector_;
   uint64_t buffer_bytes_size_ {0u};
   const uint64_t max_bytes_size_;
 };

rosbag2_cpp/include/rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp → rosbag2_cpp/include/rosbag2_cpp/cache/message_cache_interface.hpp

@@ -12,29 +12,28 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2_CPP__CACHE_INTERFACES__BASE_MESSAGE_CACHE_INTERFACE_HPP_
-#define ROSBAG2_CPP__CACHE_INTERFACES__BASE_MESSAGE_CACHE_INTERFACE_HPP_
+#ifndef ROSBAG2_CPP__CACHE__MESSAGE_CACHE_INTERFACE_HPP_
+#define ROSBAG2_CPP__CACHE__MESSAGE_CACHE_INTERFACE_HPP_
 
 #include <memory>
 
 #include "rosbag2_cpp/visibility_control.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 
 namespace rosbag2_cpp
 {
-namespace cache_interfaces
+namespace cache
 {
 
-class ROSBAG2_CPP_PUBLIC BaseMessageCacheInterface
+class ROSBAG2_CPP_PUBLIC MessageCacheInterface
 {
 public:
-  virtual ~BaseMessageCacheInterface() {}
+  virtual ~MessageCacheInterface() {}
 
   virtual void push(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) = 0;
 
-  virtual std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface>
-  consumer_buffer() = 0;
+  virtual std::shared_ptr<CacheBufferInterface> consumer_buffer() = 0;
 
   virtual void swap_buffers() = 0;
 
@@ -45,7 +44,7 @@ class ROSBAG2_CPP_PUBLIC BaseMessageCacheInterface
   virtual void finalize() {}
 };
 
-}  // namespace cache_interfaces
+}  // namespace cache
 }  // namespace rosbag2_cpp
 
-#endif  // ROSBAG2_CPP__CACHE_INTERFACES__BASE_MESSAGE_CACHE_INTERFACE_HPP_
+#endif  // ROSBAG2_CPP__CACHE__MESSAGE_CACHE_INTERFACE_HPP_

rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp

@@ -23,7 +23,7 @@
 
 #include "rosbag2_cpp/cache/cache_consumer.hpp"
 #include "rosbag2_cpp/cache/message_cache.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp"
+#include "rosbag2_cpp/cache/message_cache_interface.hpp"
 #include "rosbag2_cpp/converter.hpp"
 #include "rosbag2_cpp/serialization_format_converter_factory.hpp"
 #include "rosbag2_cpp/writer_interfaces/base_writer_interface.hpp"
@@ -116,7 +116,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   std::unique_ptr<Converter> converter_;
 
   bool use_cache_;
-  std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface> message_cache_;
+  std::shared_ptr<rosbag2_cpp::cache::MessageCacheInterface> message_cache_;
   std::unique_ptr<rosbag2_cpp::cache::CacheConsumer> cache_consumer_;
 
   void switch_to_next_storage();

rosbag2_cpp/src/rosbag2_cpp/cache/cache_consumer.cpp

@@ -23,7 +23,7 @@ namespace cache
 {
 
 CacheConsumer::CacheConsumer(
-  std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseMessageCacheInterface> message_cache,
+  std::shared_ptr<MessageCacheInterface> message_cache,
   consume_callback_function_t consume_callback)
 : message_cache_(message_cache),
   consume_callback_(consume_callback)

rosbag2_cpp/src/rosbag2_cpp/cache/circular_message_cache.cpp

@@ -19,7 +19,7 @@
 
 #include "rosbag2_cpp/cache/circular_message_cache.hpp"
 #include "rosbag2_cpp/cache/message_cache_circular_buffer.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_cache_buffer_interface.hpp"
+#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
 #include "rosbag2_cpp/logging.hpp"
 
 namespace rosbag2_cpp
@@ -39,8 +39,7 @@ void CircularMessageCache::push(std::shared_ptr<const rosbag2_storage::Serialize
   primary_buffer_->push(msg);
 }
 
-std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface> CircularMessageCache::
-consumer_buffer()
+std::shared_ptr<CacheBufferInterface> CircularMessageCache::consumer_buffer()
 {
   return secondary_buffer_;
 }

rosbag2_cpp/src/rosbag2_cpp/cache/message_cache.cpp

@@ -20,7 +20,7 @@
 #include <utility>
 
 #include "rosbag2_cpp/cache/message_cache.hpp"
-#include "rosbag2_cpp/cache_interfaces/base_message_cache_interface.hpp"
+#include "rosbag2_cpp/cache/message_cache_interface.hpp"
 #include "rosbag2_cpp/logging.hpp"
 
 namespace rosbag2_cpp
@@ -88,8 +88,7 @@ void MessageCache::swap_buffers()
   std::swap(primary_buffer_, secondary_buffer_);
 }
 
-std::shared_ptr<rosbag2_cpp::cache_interfaces::BaseCacheBufferInterface> MessageCache::
-consumer_buffer()
+std::shared_ptr<CacheBufferInterface> MessageCache::consumer_buffer()
 {
   return secondary_buffer_;
 }