[rec_core] Record ecalhdf5 v6, respecting topic-id. #1884
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| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
| @@ -1,6 +1,6 @@ | ||||||
| /* ========================= eCAL LICENSE ================================= | ||||||
| * | ||||||
| * Copyright (C) 2016 - 2025 Continental Corporation | ||||||
| * | ||||||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||||||
| * you may not use this file except in compliance with the License. | ||||||
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@@ -695,12 +695,12 @@ namespace eCAL | |||||
| return subscribed_topics; | ||||||
| } | ||||||
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| void EcalRecImpl::EcalMessageReceived(const Registration::STopicId& topic_id_, const SDataTypeInformation& datatype_info_, const SReceiveCallbackData& callback_data_) | ||||||
| { | ||||||
| auto ecal_receive_time = eCAL::Time::ecal_clock::now(); | ||||||
| auto system_receive_time = std::chrono::steady_clock::now(); | ||||||
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| std::shared_ptr<Frame> frame = std::make_shared<Frame>(callback_data_, topic_id_, ecal_receive_time, system_receive_time); | ||||||
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There was a problem hiding this comment. warning: variable 'frame' of type 'std::shared_ptr' can be declared 'const' [misc-const-correctness]
Suggested change
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| pre_buffer_.push_back(frame); | ||||||
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@@ -721,7 +721,7 @@ namespace eCAL | |||||
| pre_buffer_.remove_old_frames(); | ||||||
| } | ||||||
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| void EcalRecImpl::SetTopicInfo(const TopicInfoMap& topic_info_map) | ||||||
| { | ||||||
| // Create subscribers for new topics if necessary | ||||||
| { | ||||||
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@@ -762,7 +762,7 @@ namespace eCAL | |||||
| RemoveOldSubscribers_NoLock(filtered_topic_set); | ||||||
| } | ||||||
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| std::set<std::string> EcalRecImpl::FilterAvailableTopics_NoLock(const TopicInfoMap& topic_info_map) const | ||||||
| { | ||||||
| std::set<std::string> topic_set; | ||||||
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@@ -776,13 +776,13 @@ namespace eCAL | |||||
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| // Evaluate the record mode (All / Blacklist / Whitelist) | ||||||
| if ((record_mode_ == RecordMode::Blacklist) | ||||||
| && (listed_topics_.find(topic_info.first.topic_name) != listed_topics_.end())) | ||||||
| { | ||||||
| // The topic is blacklisted | ||||||
| continue; | ||||||
| } | ||||||
| else if ((record_mode_ == RecordMode::Whitelist) | ||||||
| && (listed_topics_.find(topic_info.first.topic_name) == listed_topics_.end())) | ||||||
| { | ||||||
| // The topic is not whitelisted | ||||||
| continue; | ||||||
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@@ -808,7 +808,7 @@ namespace eCAL | |||||
| } | ||||||
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| // Add the topic to the filtered set if we haven't found any reason not to do that :) | ||||||
| topic_set.emplace(topic_info.first.topic_name); | ||||||
| } | ||||||
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| return topic_set; | ||||||
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@@ -828,7 +828,7 @@ namespace eCAL | |||||
| info_ = { false, "Error creating eCAL subsribers" }; | ||||||
| continue; | ||||||
| } | ||||||
| if (!subscriber->SetReceiveCallback(std::bind(&EcalRecImpl::EcalMessageReceived, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3))) | ||||||
| { | ||||||
| EcalRecLogger::Instance()->error("Error adding callback for subscriber on topic " + topic); | ||||||
| info_ = { false, "Error creating eCAL subsribers" }; | ||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| /* ========================= eCAL LICENSE ================================= | ||
| * | ||
| * Copyright (C) 2016 - 2024 Continental Corporation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
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@@ -32,16 +32,16 @@ namespace eCAL | |
| class Frame | ||
| { | ||
| public: | ||
| Frame(const eCAL::SReceiveCallbackData& callback_data, const Registration::STopicId& topic, const eCAL::Time::ecal_clock::time_point receive_time, std::chrono::steady_clock::time_point system_receive_time) | ||
| : ecal_publish_time_(std::chrono::duration_cast<eCAL::Time::ecal_clock::duration>(std::chrono::microseconds(callback_data.time))) | ||
| , ecal_receive_time_(receive_time) | ||
| , system_receive_time_(system_receive_time) | ||
| , topic_(topic) | ||
| , clock_(callback_data.clock) | ||
| , id_(callback_data.id) | ||
| { | ||
| data_.reserve(callback_data.size); | ||
| data_.assign((char*)callback_data.buf, (char*)callback_data.buf + callback_data.size); | ||
|
There was a problem hiding this comment. warning: do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast] data_.assign((char*)callback_data.buf, (char*)callback_data.buf + callback_data.size);
^There was a problem hiding this comment. warning: do not use C-style cast to convert between unrelated types [cppcoreguidelines-pro-type-cstyle-cast] data_.assign((char*)callback_data.buf, (char*)callback_data.buf + callback_data.size);
^ |
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| } | ||
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| Frame() | ||
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@@ -57,7 +57,7 @@ namespace eCAL | |
| eCAL::Time::ecal_clock::time_point ecal_publish_time_; | ||
| eCAL::Time::ecal_clock::time_point ecal_receive_time_; | ||
| std::chrono::steady_clock::time_point system_receive_time_; | ||
| Registration::STopicId topic_; | ||
| long long clock_; | ||
| long long id_; | ||
| }; | ||
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| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
| @@ -1,6 +1,6 @@ | ||||||
| /* ========================= eCAL LICENSE ================================= | ||||||
| * | ||||||
| * Copyright (C) 2016 - 2025 Continental Corporation | ||||||
| * | ||||||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||||||
| * you may not use this file except in compliance with the License. | ||||||
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@@ -32,7 +32,7 @@ namespace eCAL | |||||
| // Constructor & Destructor | ||||||
| /////////////////////////////// | ||||||
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| Hdf5WriterThread::Hdf5WriterThread(const JobConfig& job_config, const TopicInfoMap& initial_topic_info_map, const std::deque<std::shared_ptr<Frame>>& initial_frame_buffer) | ||||||
| : InterruptibleThread () | ||||||
| , job_config_ (job_config) | ||||||
| , frame_buffer_ (initial_frame_buffer) | ||||||
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@@ -41,7 +41,7 @@ namespace eCAL | |||||
| , new_topic_info_map_available_(true) | ||||||
| , flushing_ (false) | ||||||
| { | ||||||
| hdf5_writer_ = std::make_unique<eCAL::eh5::HDF5Meas>(); | ||||||
| } | ||||||
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| Hdf5WriterThread::~Hdf5WriterThread() | ||||||
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@@ -82,7 +82,7 @@ namespace eCAL | |||||
| } | ||||||
| } | ||||||
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| void Hdf5WriterThread::SetTopicInfo(TopicInfoMap topic_info_map) | ||||||
| { | ||||||
| std::unique_lock<decltype(input_mutex_)> input_lock(input_mutex_); | ||||||
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@@ -128,7 +128,7 @@ namespace eCAL | |||||
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| // Topic info to write to the HDF5 file | ||||||
| bool set_topic_info_map = false; | ||||||
| TopicInfoMap topic_info_map_to_set; | ||||||
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| { | ||||||
| // Lock the input mutex | ||||||
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@@ -168,8 +168,10 @@ namespace eCAL | |||||
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| for (const auto& topic : topic_info_map_to_set) | ||||||
| { | ||||||
| // convert from eCAL core types to eCAL measurement types before writing to the measurement. | ||||||
| eh5::SChannel channel{ topic.first.topic_name, topic.first.topic_id.entity_id }; | ||||||
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There was a problem hiding this comment. warning: variable 'channel' of type 'eh5::SChannel' (aka 'eCAL::experimental::measurement::base::Channel') can be declared 'const' [misc-const-correctness]
Suggested change
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| eCAL::experimental::measurement::base::DataTypeInformation const topic_info{ topic.second.tinfo_.name, topic.second.tinfo_.encoding, topic.second.tinfo_.descriptor }; | ||||||
| hdf5_writer_->SetChannelDataTypeInformation(channel, topic_info); | ||||||
| } | ||||||
| } | ||||||
| else if (frame) | ||||||
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@@ -180,14 +182,18 @@ namespace eCAL | |||||
| break; | ||||||
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| // Write Frame element to HDF5 | ||||||
| eh5::SWriteEntry entry; | ||||||
| // in hdf5, ids are integers, however SEntityIds are not, so we need to convert. | ||||||
| entry.channel = eh5::SChannel(frame->topic_.topic_name, frame->topic_.topic_id.entity_id); | ||||||
| entry.data = frame->data_.data(); | ||||||
| entry.size = frame->data_.size(); | ||||||
| entry.snd_timestamp = std::chrono::duration_cast<std::chrono::microseconds>(frame->ecal_publish_time_.time_since_epoch()).count(); | ||||||
| entry.rcv_timestamp = std::chrono::duration_cast<std::chrono::microseconds>(frame->ecal_receive_time_.time_since_epoch()).count(); | ||||||
| entry.sender_id = frame->id_; | ||||||
| entry.clock = frame->clock_; | ||||||
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| if (!hdf5_writer_->AddEntryToFile( | ||||||
| entry | ||||||
| )) | ||||||
| { | ||||||
| last_status_.info_ = { false, "Error adding frame to measurement" }; | ||||||
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@@ -264,7 +270,7 @@ namespace eCAL | |||||
| #endif // NDEBUG | ||||||
| std::unique_lock<decltype(hdf5_writer_mutex_)> hdf5_writer_lock(hdf5_writer_mutex_); | ||||||
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| if (hdf5_writer_->Open(hdf5_dir, eCAL::eh5::eAccessType::CREATE)) | ||||||
| { | ||||||
| #ifndef NDEBUG | ||||||
| EcalRecLogger::Instance()->debug("Hdf5WriterThread::Open(): Successfully opened HDF5-Writer with path \"" + hdf5_dir + "\""); | ||||||
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warning: parameter 'datatype_info_' is unused [misc-unused-parameters]