add storage_config_uri (#493)

* add storage_config_uri Signed-off-by: Karsten Knese <[email protected]> * linters and tests Signed-off-by: Karsten Knese <[email protected]> * move storage options to rosbag2_storage Signed-off-by: Karsten Knese <[email protected]> * use storage options to open storage backends Signed-off-by: Karsten Knese <[email protected]> * add rosbag2_py to metapackage Signed-off-by: Karsten Knese <[email protected]>
ros2 · Nov 2, 2020 · 79f35d5 · 79f35d5
1 parent 19ee70d
commit 79f35d5
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -141,6 +141,7 @@ void SequentialWriter::reset()
     metadata_io_->write_metadata(base_folder_, metadata_);
   }
 
+  reset_cache();
   storage_.reset();  // Necessary to ensure that the storage is destroyed before the factory
   storage_factory_.reset();
 }
@@ -252,11 +253,7 @@ void SequentialWriter::write(std::shared_ptr<rosbag2_storage::SerializedBagMessa
     cache_.push_back(converted_msg);
     current_cache_size_ += converted_msg->serialized_data->buffer_length;
     if (current_cache_size_ >= storage_options_.max_cache_size) {
-      storage_->write(cache_);
-      // reset cache
-      cache_.clear();
-      cache_.reserve(storage_options_.max_cache_size);
-      current_cache_size_ = 0u;
+      reset_cache();
     }
   }
 }

diff --git a/...ag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp b/...ag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp
@@ -123,10 +123,15 @@ void SqliteStorage::open(
   const rosbag2_storage::StorageOptions & storage_options,
   rosbag2_storage::storage_interfaces::IOFlag io_flag)
 {
+  if (!storage_options.storage_config_uri.empty()) {
+    fprintf(stderr, "going to open config file: %s\n", storage_options.storage_config_uri.c_str());
+    throw std::runtime_error("storage specific config file is not yet implemented.");
+  }
+
   auto pragmas = parse_pragmas(storage_options.storage_config_uri, io_flag);
 
   if (is_read_write(io_flag)) {
-    relative_path_ = storage_options.uri + FILE_EXTENSION;
+    relative_path_ = uri + FILE_EXTENSION;
 
     // READ_WRITE requires the DB to not exist.
     if (rcpputils::fs::path(relative_path_).exists()) {