From 9b66635c65d58b66c229f446e750a3bddf2f8b6f Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Mon, 19 Dec 2022 00:16:34 -0800
Subject: [PATCH 1/7] Add Changes to enable searching for .msg files in
sub-directories
Signed-off-by: aditya <aditya@nimble.ai>
---
.../src/message_definition_cache.cpp | 54 ++++++++++++++++---
1 file changed, 48 insertions(+), 6 deletions(-)
diff --git a/rosbag2_storage_mcap/src/message_definition_cache.cpp b/rosbag2_storage_mcap/src/message_definition_cache.cpp
index 5cfbebac81..72b589b5b1 100644
--- a/rosbag2_storage_mcap/src/message_definition_cache.cpp
+++ b/rosbag2_storage_mcap/src/message_definition_cache.cpp
@@ -44,6 +44,12 @@ static const std::unordered_set<std::string> PRIMITIVE_TYPES{
"bool", "byte", "char", "float32", "float64", "int8", "uint8",
"int16", "uint16", "int32", "uint32", "int64", "uint64", "string"};
+#ifdef _WIN32
+static const std::string SEPARATOR = "\\";
+#else
+static const std::string SEPARATOR = "/";
+#endif
+
static std::set<std::string> parse_msg_dependencies(const std::string & text,
const std::string & package_context)
{
@@ -119,6 +125,23 @@ static std::string delimiter(const DefinitionIdentifier & definition_identifier)
return result;
}
+static std::vector<std::string> split_string(const std::string& str,
+ const std::string& delimiter = "\n") {
+ std::vector<std::string> strings;
+ std::string::size_type pos = 0;
+ std::string::size_type prev = 0;
+
+ while ((pos = str.find(delimiter, prev)) != std::string::npos) {
+ strings.push_back(str.substr(prev, pos - prev));
+ prev = pos + delimiter.size();
+ }
+
+ // Get the last substring (or only, if delimiter is not found)
+ strings.push_back(str.substr(prev));
+
+ return strings;
+}
+
MessageSpec::MessageSpec(Format format, std::string text, const std::string & package_context)
: dependencies(parse_dependencies(format, text, package_context))
, text(std::move(text))
@@ -139,15 +162,34 @@ const MessageSpec & MessageDefinitionCache::load_message_spec(
throw std::invalid_argument("Invalid package resource name: " +
definition_identifier.package_resource_name);
}
- std::string package = match[1];
- std::string share_dir = ament_index_cpp::get_package_share_directory(package);
- std::ifstream file{share_dir + "/msg/" + match[2].str() +
- extension_for_format(definition_identifier.format)};
- if (!file.good()) {
+ const std::string package = match[1].str();
+ const std::string filename = match[2].str() + extension_for_format(definition_identifier.format);
+
+ // Get the package share directory, or throw a PackageNotFoundError
+ const std::string share_dir = ament_index_cpp::get_package_share_directory(package);
+
+ // Get the rosidl_interfaces index contents for this package
+ std::string index_contents;
+ if (!ament_index_cpp::get_resource("rosidl_interfaces", package, index_contents)) {
throw DefinitionNotFoundError(definition_identifier.package_resource_name);
}
- std::string contents{std::istreambuf_iterator(file), {}};
+ // Find the first line that ends with the filename we're looking for
+ const auto lines = split_string(index_contents);
+ const auto it = std::find_if(lines.begin(), lines.end(), [&filename](const std::string& line) {
+ return line.size() >= filename.size() &&
+ line.compare(line.size() - filename.size(), filename.size(), filename) == 0;
+ });
+ if (it == lines.end()) {
+ throw DefinitionNotFoundError(definition_identifier.package_resource_name);
+ }
+
+ // Read the file
+ const std::string full_path = share_dir + SEPARATOR + *it;
+ std::ifstream file{full_path};
+
+ const std::string contents{std::istreambuf_iterator(file), {}};
+
const MessageSpec & spec =
msg_specs_by_definition_identifier_
.emplace(definition_identifier,
From bc3f14d4ab0c2901fc8e925bc5a6dc87fb6838b1 Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Wed, 28 Dec 2022 18:57:40 -0800
Subject: [PATCH 2/7] Fix CPP Lint
Signed-off-by: aditya <aditya@nimble.ai>
---
rosbag2_storage_mcap/src/message_definition_cache.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/rosbag2_storage_mcap/src/message_definition_cache.cpp b/rosbag2_storage_mcap/src/message_definition_cache.cpp
index 72b589b5b1..be24755a4c 100644
--- a/rosbag2_storage_mcap/src/message_definition_cache.cpp
+++ b/rosbag2_storage_mcap/src/message_definition_cache.cpp
@@ -45,9 +45,9 @@ static const std::unordered_set<std::string> PRIMITIVE_TYPES{
"int16", "uint16", "int32", "uint32", "int64", "uint64", "string"};
#ifdef _WIN32
-static const std::string SEPARATOR = "\\";
+static const char SEPARATOR[] = "\\";
#else
-static const std::string SEPARATOR = "/";
+static const char SEPARATOR[] = "/";
#endif
static std::set<std::string> parse_msg_dependencies(const std::string & text,
From fdf9cb933f26423aa33d5dbb008a1e09f30d5892 Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Wed, 28 Dec 2022 20:21:19 -0800
Subject: [PATCH 3/7] Fix Clang failures
Signed-off-by: aditya <aditya@nimble.ai>
---
rosbag2_storage_mcap/src/message_definition_cache.cpp | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/rosbag2_storage_mcap/src/message_definition_cache.cpp b/rosbag2_storage_mcap/src/message_definition_cache.cpp
index be24755a4c..10a76bc775 100644
--- a/rosbag2_storage_mcap/src/message_definition_cache.cpp
+++ b/rosbag2_storage_mcap/src/message_definition_cache.cpp
@@ -125,8 +125,9 @@ static std::string delimiter(const DefinitionIdentifier & definition_identifier)
return result;
}
-static std::vector<std::string> split_string(const std::string& str,
- const std::string& delimiter = "\n") {
+static std::vector<std::string> split_string(const std::string & str,
+ const std::string & delimiter = "\n")
+{
std::vector<std::string> strings;
std::string::size_type pos = 0;
std::string::size_type prev = 0;
@@ -176,7 +177,7 @@ const MessageSpec & MessageDefinitionCache::load_message_spec(
// Find the first line that ends with the filename we're looking for
const auto lines = split_string(index_contents);
- const auto it = std::find_if(lines.begin(), lines.end(), [&filename](const std::string& line) {
+ const auto it = std::find_if(lines.begin(), lines.end(), [&filename](const std::string & line) {
return line.size() >= filename.size() &&
line.compare(line.size() - filename.size(), filename.size(), filename) == 0;
});
From c8dd8aa47dec95d3a7afb8431a089174de97de3d Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Thu, 5 Jan 2023 14:40:08 -0800
Subject: [PATCH 4/7] Fix for matching to correct message definitions
Signed-off-by: aditya <aditya@nimble.ai>
---
.../src/message_definition_cache.cpp | 13 ++++---------
1 file changed, 4 insertions(+), 9 deletions(-)
diff --git a/rosbag2_storage_mcap/src/message_definition_cache.cpp b/rosbag2_storage_mcap/src/message_definition_cache.cpp
index 10a76bc775..44572a2d48 100644
--- a/rosbag2_storage_mcap/src/message_definition_cache.cpp
+++ b/rosbag2_storage_mcap/src/message_definition_cache.cpp
@@ -27,6 +27,7 @@
#include <string>
#include <unordered_set>
#include <utility>
+#include <filesystem>
namespace rosbag2_storage_mcap::internal
{
@@ -44,12 +45,6 @@ static const std::unordered_set<std::string> PRIMITIVE_TYPES{
"bool", "byte", "char", "float32", "float64", "int8", "uint8",
"int16", "uint16", "int32", "uint32", "int64", "uint64", "string"};
-#ifdef _WIN32
-static const char SEPARATOR[] = "\\";
-#else
-static const char SEPARATOR[] = "/";
-#endif
-
static std::set<std::string> parse_msg_dependencies(const std::string & text,
const std::string & package_context)
{
@@ -178,15 +173,15 @@ const MessageSpec & MessageDefinitionCache::load_message_spec(
// Find the first line that ends with the filename we're looking for
const auto lines = split_string(index_contents);
const auto it = std::find_if(lines.begin(), lines.end(), [&filename](const std::string & line) {
- return line.size() >= filename.size() &&
- line.compare(line.size() - filename.size(), filename.size(), filename) == 0;
+ std::filesystem::path filePath(line);
+ return filePath.filename() == filename;
});
if (it == lines.end()) {
throw DefinitionNotFoundError(definition_identifier.package_resource_name);
}
// Read the file
- const std::string full_path = share_dir + SEPARATOR + *it;
+ const std::string full_path = share_dir + std::filesystem::path::preferred_separator + *it;
std::ifstream file{full_path};
const std::string contents{std::istreambuf_iterator(file), {}};
From 548c64f6089a4e85632c767ab1ef1ecf14f544b6 Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Mon, 30 Jan 2023 17:48:03 -0800
Subject: [PATCH 5/7] change sha hash
---
mcap_vendor/CMakeLists.txt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/mcap_vendor/CMakeLists.txt b/mcap_vendor/CMakeLists.txt
index 6de89d2053..5c8dfbd260 100644
--- a/mcap_vendor/CMakeLists.txt
+++ b/mcap_vendor/CMakeLists.txt
@@ -33,7 +33,7 @@ macro(build_mcap_vendor)
include(FetchContent)
fetchcontent_declare(mcap
URL https://github.com/foxglove/mcap/archive/refs/tags/releases/cpp/v0.8.0.tar.gz
- URL_HASH SHA1=b44637791da2c9c1cec61a3ba6994f1ef63a228c # v0.8.0
+ URL_HASH SHA1=5f229666c13280af14eeb0485da5100bad606184 # v0.8.0
)
fetchcontent_makeavailable(mcap)
From 35e40bd32ba627525fb99663759aa9b3ea4fb724 Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Mon, 30 Jan 2023 18:29:40 -0800
Subject: [PATCH 6/7] Revert "change sha hash"
This reverts commit 548c64f6089a4e85632c767ab1ef1ecf14f544b6.
---
mcap_vendor/CMakeLists.txt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/mcap_vendor/CMakeLists.txt b/mcap_vendor/CMakeLists.txt
index 5c8dfbd260..6de89d2053 100644
--- a/mcap_vendor/CMakeLists.txt
+++ b/mcap_vendor/CMakeLists.txt
@@ -33,7 +33,7 @@ macro(build_mcap_vendor)
include(FetchContent)
fetchcontent_declare(mcap
URL https://github.com/foxglove/mcap/archive/refs/tags/releases/cpp/v0.8.0.tar.gz
- URL_HASH SHA1=5f229666c13280af14eeb0485da5100bad606184 # v0.8.0
+ URL_HASH SHA1=b44637791da2c9c1cec61a3ba6994f1ef63a228c # v0.8.0
)
fetchcontent_makeavailable(mcap)
From a39144e531fb2fd11e2df0ceea1d9d27d126c5b9 Mon Sep 17 00:00:00 2001
From: aditya <aditya@nimble.ai>
Date: Mon, 30 Jan 2023 18:48:59 -0800
Subject: [PATCH 7/7] remove hash
---
mcap_vendor/CMakeLists.txt | 1 -
1 file changed, 1 deletion(-)
diff --git a/mcap_vendor/CMakeLists.txt b/mcap_vendor/CMakeLists.txt
index 6de89d2053..d981fdb2a4 100644
--- a/mcap_vendor/CMakeLists.txt
+++ b/mcap_vendor/CMakeLists.txt
@@ -33,7 +33,6 @@ macro(build_mcap_vendor)
include(FetchContent)
fetchcontent_declare(mcap
URL https://github.com/foxglove/mcap/archive/refs/tags/releases/cpp/v0.8.0.tar.gz
- URL_HASH SHA1=b44637791da2c9c1cec61a3ba6994f1ef63a228c # v0.8.0
)
fetchcontent_makeavailable(mcap)