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Karsten1987
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Karsten1987
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there are still a few nitpicks, but I request changes mainly for more concrete tests.
| #include <string> | ||
| #include <unordered_map> | ||
| #include <vector> | ||
| #include <fstream> |
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please order the includes in alphabetical order
| std::make_unique<BinarySequentialFile>(database_name_ + ".extra") | ||
| ); | ||
| } | ||
| else if(metadata->relative_file_paths.size()>=1) |
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spaces around the operators
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how does such a metafile now look like? What's the enforced format for the relative file paths ?
| file_handle->file_stream.write(reinterpret_cast<const char *>(message->serialized_data->buffer), | ||
| message->serialized_data->buffer_length); | ||
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| auto serialized_data = std::make_shared<rcutils_uint8_array_t>(); |
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I am having trouble to understand what's happening with this serialized_data instance.
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I have a fundamental question for this PR. |
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Separated the plugin into "sqlite3_sequential". Main difference between both plugins are: |
* 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
… (for sqlite3): * storing actual message data into a binary file (sequentially) * storing metainformation (offset and length of message content) in database * perfomance improvement Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
… allocater for rclutils_init...) Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* implemented support for multiple files (could be used to split up big data or write on multiple disks) * support multithreading Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* updated test cases to extra files Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* sqlite3 is the original ROS2 version * sqlite3_sequential is storing the actual data in separate file(s) which are writen binary and sequential * added get_storage_identifier() to throw an exception if wrong storage plugin was loaded Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
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@DensoADAS sorry for stalling this PR for so long. Do you mind rebasing this PR once more? Or is that no longer relevant? I remember there was some connection to the newly introduced intra process communication. |
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@Karsten1987 |
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@DensoADAS are you still planning on implementing this feature? The code has diverged considerably since this was opened, so I imagine it would need a bit of rework. It also seems like this could be implemented in a separate package as a standalone plugin, rather than going into I'm going to close this for now, and if you would like to continue the conversation/development about including it in this repository, please feel free to reopen. |
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Feature: Writing serialized ROS2 messages to a binary file instead of sqlite3 database.
Question: Should the identifier for the storage plugin be changed? (rosbag2 recorded with this system cannot be played by previous versions, but vice versa)