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ddsrecorder_participants/include/ddsrecorder_participants/recorder/message/SqlMessage.hpp
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| // Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // 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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| /** | ||
| * @file SqlMessage.hpp | ||
| */ | ||
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| #pragma once | ||
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| #include <memory> | ||
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| #include <ddspipe_core/efficiency/payload/PayloadPool.hpp> | ||
| #include <ddspipe_core/types/data/RtpsPayloadData.hpp> | ||
| #include <ddspipe_core/types/topic/dds/DdsTopic.hpp> | ||
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| #include <ddsrecorder_participants/recorder/message/BaseMessage.hpp> | ||
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| namespace eprosima { | ||
| namespace ddsrecorder { | ||
| namespace participants { | ||
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| /** | ||
| * Structure extending a \c BaseMessage for SQLite. | ||
| */ | ||
| struct SqlMessage : public BaseMessage | ||
| { | ||
| SqlMessage() = default; | ||
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| /** | ||
| * @brief Construct a \c SqlMessage. | ||
| */ | ||
| SqlMessage( | ||
| const ddspipe::core::types::RtpsPayloadData& payload, | ||
| std::shared_ptr<ddspipe::core::PayloadPool> payload_pool, | ||
| const ddspipe::core::types::DdsTopic& topic, | ||
| const bool log_publish_time); | ||
| }; | ||
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| } /* namespace participants */ | ||
| } /* namespace ddsrecorder */ | ||
| } /* namespace eprosima */ |
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137 changes: 137 additions & 0 deletions
137
ddsrecorder_participants/include/ddsrecorder_participants/recorder/sql/SqlHandler.hpp
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| // Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // 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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| /** | ||
| * @file SqlHandler.hpp | ||
| */ | ||
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| #pragma once | ||
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| #include <functional> | ||
| #include <list> | ||
| #include <memory> | ||
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| #include <fastrtps/types/DynamicType.h> | ||
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| #include <ddspipe_core/efficiency/payload/PayloadPool.hpp> | ||
| #include <ddspipe_core/types/data/RtpsPayloadData.hpp> | ||
| #include <ddspipe_core/types/topic/dds/DdsTopic.hpp> | ||
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| #include <ddsrecorder_participants/library/library_dll.h> | ||
| #include <ddsrecorder_participants/recorder/message/BaseMessage.hpp> | ||
| #include <ddsrecorder_participants/recorder/output/BaseHandler.hpp> | ||
| #include <ddsrecorder_participants/recorder/output/FileTracker.hpp> | ||
| #include <ddsrecorder_participants/recorder/sql/SqlHandlerConfiguration.hpp> | ||
| #include <ddsrecorder_participants/recorder/sql/SqlWriter.hpp> | ||
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| namespace eprosima { | ||
| namespace ddsrecorder { | ||
| namespace participants { | ||
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| /** | ||
| * Class that manages the interaction between DDS Pipe (\c SchemaParticipant) and MCAP files through sql library. | ||
| * Payloads are efficiently passed from DDS Pipe to sql without copying data (only references). | ||
| * | ||
| * @implements BaseHandler | ||
| */ | ||
| class SqlHandler : public BaseHandler | ||
| { | ||
| public: | ||
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| /** | ||
| * SqlHandler constructor by required values. | ||
| * | ||
| * Creates SqlHandler instance with given configuration, payload pool and initial state. | ||
| * Opens temporal MCAP file where data is to be written. | ||
| * | ||
| * @throw InitializationException if creation fails (fail to open MCAP file). | ||
| * | ||
| * @warning Command methods (\c start , \c pause , \c stop , and \c trigger_event) are not thread safe | ||
| * among themselves. This is, they are expected to be executed sequentially and all in the same thread. | ||
| * | ||
| * @param config: Structure encapsulating all configuration options. | ||
| * @param payload_pool: Owner of every payload contained in received messages. | ||
| * @param init_state: Initial instance state (RUNNING/PAUSED/STOPPED). | ||
| */ | ||
| DDSRECORDER_PARTICIPANTS_DllAPI | ||
| SqlHandler( | ||
| const SqlHandlerConfiguration& config, | ||
| const std::shared_ptr<ddspipe::core::PayloadPool>& payload_pool, | ||
| std::shared_ptr<ddsrecorder::participants::FileTracker> file_tracker, | ||
| const BaseHandlerStateCode& init_state = BaseHandlerStateCode::RUNNING, | ||
| const std::function<void()>& on_disk_full_lambda = nullptr); | ||
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| /** | ||
| * @brief Destructor | ||
| * | ||
| * Closes temporal MCAP file, and renames it with filename given in configuration. | ||
| * Before closing file, received dynamic types are serialized and stored as an attachment. | ||
| * | ||
| */ | ||
| DDSRECORDER_PARTICIPANTS_DllAPI | ||
| virtual ~SqlHandler(); | ||
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| /** | ||
| * @brief Create and store in \c schemas_ an OMG IDL (.idl format) or ROS 2 (.msg format) schema. | ||
| * Any samples following this schema that were received before the schema itself are moved to the memory buffer | ||
| * to be written with the next batch. | ||
| * Previously created channels (for this type) associated with a blank schema are updated to use the new one. | ||
| * | ||
| * @param [in] dynamic_type DynamicType containing the type information required to generate the schema. | ||
| */ | ||
| DDSRECORDER_PARTICIPANTS_DllAPI | ||
| void add_schema( | ||
| const fastrtps::types::DynamicType_ptr& dynamic_type) override; | ||
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| /** | ||
| * @brief Add a data sample to the given \c topic. | ||
| * | ||
| * If a channel with (non-blank) schema exists, the sample is saved in memory \c buffer_ . | ||
| * Otherwise: | ||
| * if RUNNING -> the sample is inserted into \c pending_samples_ queue if max pending samples is not 0. | ||
| * If 0, the sample is added to buffer without schema if allowed (only_with_schema not true), | ||
| * and discarded otherwise. | ||
| * if PAUSED -> the sample is inserted into \c pending_samples_paused_ queue. | ||
| * | ||
| * If instance is STOPPED, received data is not processed. | ||
| * | ||
| * @param [in] topic DDS topic associated to this sample. | ||
| * @param [in] data SqlMessage to be added. | ||
| */ | ||
| DDSRECORDER_PARTICIPANTS_DllAPI | ||
| void add_data( | ||
| const ddspipe::core::types::DdsTopic& topic, | ||
| ddspipe::core::types::RtpsPayloadData& data) override; | ||
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| protected: | ||
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| /** | ||
| * @brief Writes \c samples to disk. | ||
| * | ||
| * For each sample in \c samples, it downcasts it to \c SqlMessage, writes it to disk, and removes it from | ||
| * \c samples. | ||
| * The method ends when \c samples is empty. | ||
| * | ||
| * @param [in] samples List of samples to be written. | ||
| */ | ||
| void write_samples_( | ||
| std::list<std::shared_ptr<const BaseMessage>>& samples) override; | ||
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| //! SQL writer | ||
| SqlWriter sql_writer_; | ||
| }; | ||
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| } /* namespace participants */ | ||
| } /* namespace ddsrecorder */ | ||
| } /* namespace eprosima */ |
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59
...er_participants/include/ddsrecorder_participants/recorder/sql/SqlHandlerConfiguration.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| // Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // 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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| /** | ||
| * @file SqlHandlerConfiguration.hpp | ||
| */ | ||
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| #pragma once | ||
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| #include <ddsrecorder_participants/recorder/output/BaseHandlerConfiguration.hpp> | ||
| #include <ddsrecorder_participants/recorder/output/OutputSettings.hpp> | ||
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| namespace eprosima { | ||
| namespace ddsrecorder { | ||
| namespace participants { | ||
|
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| /** | ||
| * Structure encapsulating the \c SqlHandler configuration options. | ||
| */ | ||
| struct SqlHandlerConfiguration : public BaseHandlerConfiguration | ||
| { | ||
| SqlHandlerConfiguration( | ||
| const OutputSettings& output_settings, | ||
| const int max_pending_samples, | ||
| const unsigned int buffer_size, | ||
| const unsigned int event_window, | ||
| const unsigned int cleanup_period, | ||
| const bool log_publishTime, | ||
| const bool only_with_schema, | ||
| const bool record_types, | ||
| const bool ros2_types) | ||
| : BaseHandlerConfiguration( | ||
| output_settings, | ||
| max_pending_samples, | ||
| buffer_size, | ||
| event_window, | ||
| cleanup_period, | ||
| log_publishTime, | ||
| only_with_schema, | ||
| record_types, | ||
| ros2_types) | ||
| { | ||
| } | ||
| }; | ||
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| } /* namespace participants */ | ||
| } /* namespace ddsrecorder */ | ||
| } /* namespace eprosima */ |
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