Strip non-mcap-related from the McapHandlerConfiguration

Signed-off-by: tempate <[email protected]>

ddsrecorder_participants/include/ddsrecorder_participants/recorder/mcap/McapHandlerConfiguration.hpp

@@ -18,12 +18,9 @@
 
 #pragma once
 
-#include <cstdint>
-#include <string>
-#include <vector>
-
 #include <mcap/mcap.hpp>
 
+#include <ddsrecorder_participants/recorder/output/BaseHandlerConfiguration.hpp>
 #include <ddsrecorder_participants/recorder/output/OutputSettings.hpp>
 
 namespace eprosima {
@@ -33,61 +30,35 @@ namespace participants {
 /**
  * Structure encapsulating all of \c McapHandler configuration options.
  */
-struct McapHandlerConfiguration
+struct McapHandlerConfiguration : public BaseHandlerConfiguration
 {
     McapHandlerConfiguration(
             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 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 mcap::McapWriterOptions& mcap_writer_options,
-            const bool& record_types,
-            const bool& ros2_types)
-        : output_settings(output_settings)
-        , max_pending_samples(max_pending_samples)
-        , buffer_size(buffer_size)
-        , event_window(event_window)
-        , cleanup_period(cleanup_period)
-        , log_publishTime(log_publishTime)
-        , only_with_schema(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)
         , mcap_writer_options(mcap_writer_options)
-        , record_types(record_types)
-        , ros2_types(ros2_types)
     {
     }
 
-    //! Configuration settings for MCAP file where data is to be written
-    OutputSettings output_settings;
-
-    //! Max number of messages to store in memory when schema not yet available
-    unsigned int max_pending_samples;
-
-    //! Max number of elements to keep in memory prior to writing in disk (applies to started state)
-    unsigned int buffer_size;
-
-    //! Keep in memory samples received in time frame [s], to be stored when event triggered (applies to paused state)
-    unsigned int event_window;
-
-    //! Remove from buffer samples older than *now - event_window* with this period [s] (applies to paused state)
-    unsigned int cleanup_period;
-
-    //! Store messages with logTime set to sample publication timestamp
-    bool log_publishTime;
-
-    //! Only write messages whose schema is registered (i.e. discard pending samples when leaving RUNNING state)
-    bool only_with_schema;
-
     //! Mcap writer configuration options
     mcap::McapWriterOptions mcap_writer_options;
-
-    //! Whether to store received dynamic types in output MCAP file
-    bool record_types;
-
-    //! Whether to generate schemas as OMG IDL or ROS2 msg
-    bool ros2_types;
 };
 
 } /* namespace participants */

ddsrecorder_participants/include/ddsrecorder_participants/recorder/output/BaseHandler.hpp

@@ -34,8 +34,8 @@
 #include <ddspipe_participants/participant/dynamic_types/ISchemaHandler.hpp>
 
 #include <ddsrecorder_participants/library/library_dll.h>
-#include <ddsrecorder_participants/recorder/mcap/McapHandlerConfiguration.hpp>
 #include <ddsrecorder_participants/recorder/message/BaseMessage.hpp>
+#include <ddsrecorder_participants/recorder/output/BaseHandlerConfiguration.hpp>
 
 #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
     #include <ddsrecorder_participants/common/types/dynamic_types_collection/v1/DynamicTypesCollection.hpp>
@@ -56,8 +56,15 @@ ENUMERATION_BUILDER(
     );
 
 /**
- * Class that manages the interaction between DDS Pipe (\c SchemaParticipant) and MCAP files through mcap library.
- * Payloads are efficiently passed from DDS Pipe to mcap without copying data (only references).
+ * @brief Base class with generic methods to interact with the \c DdsPipe ( \c SchemaParticipant ).
+ *
+ * More concretely, the \c BaseHandler manages:
+ * - state transitions (start, stop, pause, trigger_event),
+ * - buffer management (storing, discarding and dumping samples),
+ * - pending samples management (samples received before the type is known),
+ * - dynamic types collection (storing and serializing types).
+ *
+ * Payloads are efficiently passed from DDS Pipe to the output file without copying data (only references).
  *
  * @implements ISchemaHandler
  */
@@ -66,37 +73,31 @@ class BaseHandler : public ddspipe::participants::ISchemaHandler
 public:
 
     /**
-     * BaseHandler constructor by required values.
-     *
-     * Creates BaseHandler 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.
+     * @brief Creates the \c BaseHandler instance with the given configuration.
      *
      * @param config:       Structure encapsulating all configuration options.
      * @param payload_pool: Pool of payloads to be used by the handler.
      */
     DDSRECORDER_PARTICIPANTS_DllAPI
     BaseHandler(
-            const McapHandlerConfiguration& config,
+            const BaseHandlerConfiguration& config,
             const std::shared_ptr<ddspipe::core::PayloadPool>& payload_pool);
 
     /**
-     * @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.
-     *
+     * @brief Destructor the \c BaseHandler instance.
      */
     DDSRECORDER_PARTICIPANTS_DllAPI
     virtual ~BaseHandler();
 
     /**
      * @brief Initialize handler instance
      *
+     * @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.
+     *
+     * @note This method should be called by a derived class constructor to ensure the purely virtual methods have been
+     * implemented.
+     *
      * @param [in] init_state Initial state of the handler instance.
      */
     DDSRECORDER_PARTICIPANTS_DllAPI
@@ -309,7 +310,7 @@ class BaseHandler : public ddspipe::participants::ISchemaHandler
             const std::string& type_name);
 
     //! Handler configuration
-    McapHandlerConfiguration configuration_;
+    const BaseHandlerConfiguration configuration_;
 
     //! Payload pool
     std::shared_ptr<ddspipe::core::PayloadPool> payload_pool_;

ddsrecorder_participants/include/ddsrecorder_participants/recorder/output/BaseHandlerConfiguration.hpp

@@ -0,0 +1,83 @@
+// 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.
+
+/**
+ * @file BaseHandlerConfiguration.hpp
+ */
+
+#pragma once
+
+#include <ddsrecorder_participants/recorder/output/OutputSettings.hpp>
+
+namespace eprosima {
+namespace ddsrecorder {
+namespace participants {
+
+/**
+ * Structure encapsulating all the \c BaseHandler configuration options.
+ */
+struct BaseHandlerConfiguration
+{
+    BaseHandlerConfiguration(
+            const OutputSettings& output_settings,
+            const unsigned 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)
+        : output_settings(output_settings)
+        , max_pending_samples(max_pending_samples)
+        , buffer_size(buffer_size)
+        , event_window(event_window)
+        , cleanup_period(cleanup_period)
+        , log_publishTime(log_publishTime)
+        , only_with_schema(only_with_schema)
+        , record_types(record_types)
+    {
+    }
+
+    //! Configuration settings for the output file where data is to be written
+    OutputSettings output_settings;
+
+    //! Max number of messages to store in memory when schema not yet available
+    unsigned int max_pending_samples;
+
+    //! Max number of elements to keep in memory prior to writing in disk (applies to started state)
+    unsigned int buffer_size;
+
+    //! Keep in memory samples received in time frame [s], to be stored when event triggered (applies to paused state)
+    unsigned int event_window;
+
+    //! Remove from buffer samples older than *now - event_window* with this period [s] (applies to paused state)
+    unsigned int cleanup_period;
+
+    //! Store messages with logTime set to sample publication timestamp
+    bool log_publishTime;
+
+    //! Only write messages whose schema is registered (i.e. discard pending samples when leaving RUNNING state)
+    bool only_with_schema;
+
+    //! Whether to store received dynamic types in the output file
+    bool record_types;
+
+    //! Whether to generate schemas as OMG IDL or ROS2 msg
+    bool ros2_types;
+};
+
+} /* namespace participants */
+} /* namespace ddsrecorder */
+} /* namespace eprosima */

ddsrecorder_participants/src/cpp/recorder/output/BaseHandler.cpp

@@ -33,7 +33,7 @@ namespace participants {
 using namespace eprosima::ddspipe::core::types;
 
 BaseHandler::BaseHandler(
-        const McapHandlerConfiguration& config,
+        const BaseHandlerConfiguration& config,
         const std::shared_ptr<ddspipe::core::PayloadPool>& payload_pool)
     : configuration_(config)
     , payload_pool_(payload_pool)