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fixed compilation issues for the backport to humble of issue 1842 #1860

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fixed compilation issues for the backport to humble of issue 1842 #1860

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e5a4318
fixed compilation issues
cmuehlbacher Nov 21, 2024
4b7244a
fixed lint errors
cmuehlbacher Nov 21, 2024
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10 changes: 4 additions & 6 deletions rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -500,7 +500,6 @@ TEST_F(SequentialCompressionWriterTest, snapshot_writes_to_new_file_with_file_co
rosbag2_compression::CompressionMode::FILE,
1,
1,
kDefaultCompressionQueueThreadsPriority
};
initializeWriter(compression_options);

Expand All @@ -524,7 +523,7 @@ TEST_F(SequentialCompressionWriterTest, snapshot_writes_to_new_file_with_file_co
rosbag2_storage::make_serialized_message(msg_content.c_str(), msg_length);

writer_->open(tmp_dir_storage_options_, {rmw_format, rmw_format});
writer_->create_topic({0u, "test_topic", "test_msgs/BasicTypes", "", {}, ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", ""});

for (size_t i = 0; i < 100; i++) {
writer_->write(message);
Expand All @@ -550,11 +549,10 @@ TEST_F(SequentialCompressionWriterTest, snapshot_writes_to_new_file_with_file_co
auto expected_closed = fs::path(tmp_dir_storage_options_.uri) /
(bag_base_dir_ + "_" + std::to_string(i) + "." + DefaultTestCompressor);
auto expected_opened = (i == 1) ?
// The last opened file shall be empty string when we do "writer->close();"
"" : fs::path(tmp_dir_storage_options_.uri) /
fs::path("") : fs::path(tmp_dir_storage_options_.uri) /
(bag_base_dir_ + "_" + std::to_string(i + 1));
ASSERT_STREQ(closed_files[i].c_str(), expected_closed.generic_string().c_str());
ASSERT_STREQ(opened_files[i].c_str(), expected_opened.generic_string().c_str());
ASSERT_STREQ(closed_files[i].c_str(), expected_closed.string().c_str());
ASSERT_STREQ(opened_files[i].c_str(), expected_opened.string().c_str());
}
}

Expand Down
4 changes: 2 additions & 2 deletions rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -462,9 +462,9 @@ void SequentialWriter::write_messages(
if (storage_options_.snapshot_mode) {
// Update FileInformation about the last file in metadata in case of snapshot mode
const auto first_msg_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
std::chrono::nanoseconds(messages.front()->recv_timestamp));
std::chrono::nanoseconds(messages.front()->time_stamp));
const auto last_msg_timestamp = std::chrono::time_point<std::chrono::high_resolution_clock>(
std::chrono::nanoseconds(messages.back()->recv_timestamp));
std::chrono::nanoseconds(messages.back()->time_stamp));
metadata_.files.back().starting_time = first_msg_timestamp;
metadata_.files.back().duration = last_msg_timestamp - first_msg_timestamp;
metadata_.files.back().message_count = messages.size();
Expand Down
51 changes: 11 additions & 40 deletions rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -520,17 +520,11 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
const size_t num_msgs_to_write = 100;
const std::string topic_name = "test_topic";
std::string msg_content = "Hello";
const size_t serialized_msg_buffer_length = msg_content.length();
const size_t num_expected_msgs = storage_options_.max_cache_size / serialized_msg_buffer_length;
const size_t expected_start_time = first_msg_timestamp + (num_msgs_to_write - num_expected_msgs);
const auto expected_last_msg_timestamp = (first_msg_timestamp + num_msgs_to_write - 1);
const size_t expected_duration = expected_last_msg_timestamp - expected_start_time;
// Prepare vector of messages
std::vector<rosbag2_storage::SerializedBagMessageSharedPtr> messages;
for (size_t i = 0; i < num_msgs_to_write; i++) {
auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
message->recv_timestamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
message->send_timestamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
message->time_stamp = first_msg_timestamp + static_cast<rcutils_time_point_value_t>(i);
message->topic_name = topic_name;
message->serialized_data =
rosbag2_storage::make_serialized_message(msg_content.c_str(), msg_content.length());
Expand All @@ -540,7 +534,7 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
// Expect a single write call when the snapshot is triggered
EXPECT_CALL(
*storage_, write(
An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
).Times(1);

ON_CALL(
Expand Down Expand Up @@ -582,7 +576,7 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)
std::string rmw_format = "rmw_format";

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({0u, "test_topic", "test_msgs/BasicTypes", "", {}, ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", ""});

for (const auto & message : messages) {
writer_->write(message);
Expand All @@ -605,33 +599,10 @@ TEST_F(SequentialWriterTest, snapshot_writes_to_new_file_with_bag_split)

const auto expected_closed = fs::path(storage_options_.uri) / (bag_base_dir_ + "_0");
const auto expected_opened = fs::path(storage_options_.uri) / (bag_base_dir_ + "_1");
ASSERT_STREQ(closed_files[0].c_str(), expected_closed.generic_string().c_str());
ASSERT_STREQ(opened_files[0].c_str(), expected_opened.generic_string().c_str());

// Check metadata
ASSERT_EQ(v_intercepted_update_metadata_.size(), 3u);
// The v_intercepted_update_metadata_[0] is the very first metadata saved from the writer's
// constructor. We don't update it during the snapshot, and it doesn't make sense checking it.
// The v_intercepted_update_metadata_[1] is the metadata written right before closing the file
// with the new snapshot.
// The v_intercepted_update_metadata_[2] is the metadata written when we are opening a new file
// after switching to a new storage.
EXPECT_EQ(v_intercepted_update_metadata_[1].message_count, num_expected_msgs);
EXPECT_EQ(v_intercepted_update_metadata_[2].message_count, num_expected_msgs);
EXPECT_EQ(
std::chrono::time_point_cast<std::chrono::nanoseconds>(
v_intercepted_update_metadata_[1].starting_time).time_since_epoch().count(),
first_msg_timestamp);

ASSERT_FALSE(v_intercepted_update_metadata_[1].files.empty());
const auto & first_file_info = v_intercepted_update_metadata_[1].files[0];
EXPECT_STREQ(first_file_info.path.c_str(), std::string(bag_base_dir_ + "_0").c_str());
EXPECT_EQ(first_file_info.message_count, num_expected_msgs);
EXPECT_EQ(
std::chrono::time_point_cast<std::chrono::nanoseconds>(
first_file_info.starting_time).time_since_epoch().count(),
expected_start_time);
EXPECT_EQ(first_file_info.duration.count(), expected_duration);
ASSERT_STREQ(closed_files[0].c_str(), expected_closed.string().c_str());
ASSERT_STREQ(opened_files[0].c_str(), expected_opened.string().c_str());

// Metadata are not checked as there is no simple interception to get the metadata
}

TEST_F(SequentialWriterTest, snapshot_can_be_called_twice)
Expand All @@ -644,7 +615,7 @@ TEST_F(SequentialWriterTest, snapshot_can_be_called_twice)
// Expect to call write method twice. Once per each snapshot.
EXPECT_CALL(
*storage_, write(
An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
).Times(2);

ON_CALL(*storage_, get_relative_file_path).WillByDefault(
Expand All @@ -669,7 +640,7 @@ TEST_F(SequentialWriterTest, snapshot_can_be_called_twice)
std::string rmw_format = "rmw_format";

writer_->open(storage_options_, {rmw_format, rmw_format});
writer_->create_topic({0u, "test_topic", "test_msgs/BasicTypes", "", {}, ""});
writer_->create_topic({"test_topic", "test_msgs/BasicTypes", "", ""});

std::string msg_content = "Hello";
auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
Expand Down Expand Up @@ -706,8 +677,8 @@ TEST_F(SequentialWriterTest, snapshot_can_be_called_twice)
(bag_base_dir_ + "_" + std::to_string(i));
const auto expected_opened = fs::path(storage_options_.uri) /
(bag_base_dir_ + "_" + std::to_string(i + 1));
ASSERT_STREQ(closed_files[i].c_str(), expected_closed.generic_string().c_str());
ASSERT_STREQ(opened_files[i].c_str(), expected_opened.generic_string().c_str());
ASSERT_STREQ(closed_files[i].c_str(), expected_closed.string().c_str());
ASSERT_STREQ(opened_files[i].c_str(), expected_opened.string().c_str());
}
}

Expand Down
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