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Allow an arbitrary topic to be recorded (ros2#26)
* ros2GH-52 Extend db schema to include topic meta data - Two table db layout (messages and topics) - Messages table references topics table but without foreign key for improved write performance - Create_topic must be called for every topic prior to storing a message of this topic. - Sqlite_storage caches all known topics - At least for now the type information is stored as a simple string. * ros2GH-54 Make first rcl subscription prototype work * ros2GH-54 find type name from topic * ros2GH-54 Publish messages from database knowing only topic name and pass topic name by terminal * ros2GH-54 Refactoring of typesupport helpers * ros2GH-54 Use c++ typesupport * ros2GH-54 Use cpp typesupport and rclcpp::Node for publisher * ros2GH-54 Add raw subscription and use in rosbag_record * ros2GH-54 Add Rosbag2Node and Rosbag2Publisher classes and use them in Rosbag2::play * ros2GH-54 Rename Rosbag2Publisher to RawPublisher * ros2GH-54 Minor refactoring of Rosbag2Node * ros2GH-54 Extract and test waiting for topic into its own method * ros2GH-54 Fix read integration tests and linters * ros2GH-55 Refactor Rosbag2Node::create_raw_publisher() * ros2GH-54 Add subscription method to rosbag node * ros2GH-54 Keep subscription alive * ros2GH-54: Extract subscription to correct class * ros2GH-55 Change interface of raw_publisher to match subscriber * ros2GH-54 Add test for rosbag node * ros2GH-54 Unfriend rclcpp class * ros2GH-54 Make test more robust * ros2GH-54 Fix build * ros2GH-54 Minor cleanup and documentation * ros2GH-55 Minor refactoring + TODO comment * ros2GH-54 Change dynamic library folder on Windows * ros2GH-54 Fix build * ros2GH-54 Add shutdown to test * ros2GH-55 Add test helpers methods for usage in multiple tests * ros2GH-55 Add new method to read all topics and types in BaseReadInterface and use it in Rosbag2::play * ros2GH-55 Fix gcc and msvc * ros2GH-54 Rename raw to generic in publisher/subscriber * ros2GH-55 Check that topic and associated type in bag file are well defined before playing back messages * ros2GH-54 Prevent unnecessary error message loading storage * ros2GH-54 Fix memory leak * ros2GH-54 stabilize node test * ros2GH-55 Check if database exists when opening storage with READ_ONLY flag * ros2GH-54 Minor cleanup of subscriber * ros2GH-54 Wait a small amount of time to let node discover other nodes * Add logging to false case * ros2GH-54 Catch exceptions and exit cleanly * Use rmw_serialized_message_t and rcutils_char_array_t consistently * ros2GH-4 Refactoring for correctness - pass a few strings as const reference - throw error when no topics could be found * Improve error messages when loading plugins * alphabetical order * type_id -> type
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| // Copyright 2018, 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. | ||
|
|
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| #include "generic_publisher.hpp" | ||
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| #include <memory> | ||
| #include <string> | ||
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| namespace rosbag2 | ||
| { | ||
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| GenericPublisher::GenericPublisher( | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| const std::string & topic, | ||
| const rosidl_message_type_support_t & type_support) | ||
| : rclcpp::PublisherBase(node_base, topic, type_support, rcl_publisher_get_default_options()) | ||
| {} | ||
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| void GenericPublisher::publish(std::shared_ptr<rmw_serialized_message_t> message) | ||
| { | ||
| auto return_code = rcl_publish_serialized_message( | ||
| get_publisher_handle(), message.get()); | ||
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| if (return_code != RCL_RET_OK) { | ||
| rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message"); | ||
| } | ||
| } | ||
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| } // namespace rosbag2 |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,41 @@ | ||
| // Copyright 2018, 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. | ||
|
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| #ifndef ROSBAG2__GENERIC_PUBLISHER_HPP_ | ||
| #define ROSBAG2__GENERIC_PUBLISHER_HPP_ | ||
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| #include <memory> | ||
| #include <string> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
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| namespace rosbag2 | ||
| { | ||
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| class GenericPublisher : public rclcpp::PublisherBase | ||
| { | ||
| public: | ||
| GenericPublisher( | ||
| rclcpp::node_interfaces::NodeBaseInterface * node_base, | ||
| const std::string & topic, | ||
| const rosidl_message_type_support_t & type_support); | ||
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| ~GenericPublisher() override = default; | ||
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| void publish(std::shared_ptr<rmw_serialized_message_t> message); | ||
| }; | ||
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| } // namespace rosbag2 | ||
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| #endif // ROSBAG2__GENERIC_PUBLISHER_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,111 @@ | ||
| // Copyright 2018, 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. | ||
|
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| #include "generic_subscription.hpp" | ||
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| #include <memory> | ||
| #include <string> | ||
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| #include "rclcpp/any_subscription_callback.hpp" | ||
| #include "rclcpp/subscription.hpp" | ||
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| namespace rosbag2 | ||
| { | ||
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| GenericSubscription::GenericSubscription( | ||
| std::shared_ptr<rcl_node_t> node_handle, | ||
| const rosidl_message_type_support_t & ts, | ||
| const std::string & topic_name, | ||
| std::function<void(std::shared_ptr<rcutils_char_array_t>)> callback) | ||
| : SubscriptionBase( | ||
| node_handle, | ||
| ts, | ||
| topic_name, | ||
| rcl_subscription_get_default_options(), | ||
| true), | ||
| default_allocator_(rcutils_get_default_allocator()), | ||
| callback_(callback) | ||
| {} | ||
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| std::shared_ptr<void> GenericSubscription::create_message() | ||
| { | ||
| return create_serialized_message(); | ||
| } | ||
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| std::shared_ptr<rmw_serialized_message_t> GenericSubscription::create_serialized_message() | ||
| { | ||
| return borrow_serialized_message(0); | ||
| } | ||
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| void GenericSubscription::handle_message( | ||
| std::shared_ptr<void> & message, const rmw_message_info_t & message_info) | ||
| { | ||
| (void) message_info; | ||
| auto typed_message = std::static_pointer_cast<rcutils_char_array_t>(message); | ||
| callback_(typed_message); | ||
| } | ||
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| void GenericSubscription::return_message(std::shared_ptr<void> & message) | ||
| { | ||
| auto typed_message = std::static_pointer_cast<rcutils_char_array_t>(message); | ||
| return_serialized_message(typed_message); | ||
| } | ||
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| void GenericSubscription::return_serialized_message( | ||
| std::shared_ptr<rmw_serialized_message_t> & message) | ||
| { | ||
| message.reset(); | ||
| } | ||
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| void GenericSubscription::handle_intra_process_message( | ||
| rcl_interfaces::msg::IntraProcessMessage & ipm, | ||
| const rmw_message_info_t & message_info) | ||
| { | ||
| (void) ipm; | ||
| (void) message_info; | ||
| throw std::runtime_error("Intra process is not supported"); | ||
| } | ||
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| const std::shared_ptr<rcl_subscription_t> | ||
| GenericSubscription::get_intra_process_subscription_handle() const | ||
| { | ||
| return nullptr; | ||
| } | ||
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| std::shared_ptr<rmw_serialized_message_t> | ||
| GenericSubscription::borrow_serialized_message(size_t capacity) | ||
| { | ||
| auto message = new rmw_serialized_message_t; | ||
| *message = rmw_get_zero_initialized_serialized_message(); | ||
| auto init_return = rmw_serialized_message_init(message, capacity, &default_allocator_); | ||
| if (init_return != RCL_RET_OK) { | ||
| rclcpp::exceptions::throw_from_rcl_error(init_return); | ||
| } | ||
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| auto serialized_msg = std::shared_ptr<rmw_serialized_message_t>(message, | ||
| [](rmw_serialized_message_t * msg) { | ||
| auto fini_return = rmw_serialized_message_fini(msg); | ||
| delete msg; | ||
| if (fini_return != RCL_RET_OK) { | ||
| RCUTILS_LOG_ERROR_NAMED( | ||
| "rosbag2", | ||
| "failed to destroy serialized message: %s", rcl_get_error_string_safe()); | ||
| } | ||
| }); | ||
|
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| return serialized_msg; | ||
| } | ||
|
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| } // namespace rosbag2 |
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