initial version of plugin based storage api

rosbag2_storage/CMakeLists.txt

@@ -17,19 +17,57 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(pluginlib REQUIRED)
+
+add_library(
+  rosbag2_storage
+  SHARED
+  src/storage_factory.cpp)
+target_include_directories(rosbag2_storage PUBLIC include)
+ament_target_dependencies(
+  rosbag2_storage
+  "pluginlib")
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(rosbag2_storage PRIVATE "ROSBAG2_STORAGE_BUILDING_DLL")
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+
+install(
+  TARGETS rosbag2_storage
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}/cmake)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # remove the line when a copyright and license is present in all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # remove the line when this package is a git repo
-  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
+
+  add_library(test_plugin SHARED test/test_plugin.cpp)
+  target_link_libraries(test_plugin rosbag2_storage)
+  install(
+    TARGETS test_plugin
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin)
+  pluginlib_export_plugin_description_file(rosbag2_storage test/test_plugin.xml)
+
+  ament_add_gtest(
+    test_storage_factory
+    test/test_storage_factory.cpp
+  )
+  target_include_directories(test_storage_factory PRIVATE include)
+  target_link_libraries(test_storage_factory rosbag2_storage)
 endif()
 
-ament_package()
+ament_export_include_directories(include)
+ament_export_libraries(rosbag2_storage)
+ament_package(
+  CONFIG_EXTRAS cmake/rosbag2_storage_register_storage_plugin.cmake)

rosbag2_storage/cmake/rosbag2_storage_register_storage_plugin.cmake

@@ -0,0 +1,63 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+find_package(ament_cmake_core REQUIRED)
+
+macro(rosbag2_storage_register_storage_plugin target)
+  if(NOT TARGET ${target})
+    message(
+      FATAL_ERROR
+      "rosbag2_storage_register_storage_plugin() first argument "
+      "'${target}' is not a target")
+  endif()
+
+  cmake_parse_arguments(_ARG "SKIP_INSTALL" "" "" ${ARGN})
+
+  get_target_property(_target_type ${target} TYPE)
+  if(NOT _target_type STREQUAL "SHARED_LIBRARY")
+    message(
+      FATAL_ERROR
+      "rosbag2_storage_register_storage_plugin() first argument "
+      "'${target}' is not a shared library target")
+  endif()
+  set(_unique_names)
+  foreach(_arg ${_ARG_UNPARSED_ARGUMENTS})
+    if(_arg IN_LIST _unique_names)
+      message(
+        FATAL_ERROR
+        "rosbag2_storage_register_storage_plugin() the plugin names "
+        "must be unique (multiple '${_arg}')")
+    endif()
+    list(APPEND _unique_names "${_arg}")
+
+    if(_ARG_SKIP_INSTALL)
+      set(_library_path $<TARGET_FILE:${target}>)
+    else()
+      if(WIN32)
+        set(_path "bin")
+      else()
+        set(_path "lib")
+      endif()
+      set(_library_path ${_path}/$<TARGET_FILE_NAME:${target}>)
+    endif()
+    set(_STORAGE_PLUGINS
+      "${_STORAGE_PLUGINS}${_arg};${_library_path}\n")
+  endforeach()
+
+  if(_ARG_SKIP_INSTALL)
+    ament_index_register_resource("rosbag2_storage_plugins" CONTENT ${_STORAGE_PLUGINS} AMENT_INDEX_BINARY_DIR "${CMAKE_BINARY_DIR}/ament_cmake_index_$<CONFIG>" SKIP_INSTALL)
+  else()
+    ament_index_register_resource("rosbag2_storage_plugins" CONTENT ${_STORAGE_PLUGINS})
+  endif()
+endmacro()

rosbag2_storage/include/rosbag2_storage/storage_factory.hpp

@@ -0,0 +1,52 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSBAG2_STORAGE__STORAGE_FACTORY_HPP_
+#define ROSBAG2_STORAGE__STORAGE_FACTORY_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rosbag2_storage/storage_interface.hpp"
+#include "rosbag2_storage/visibility_control.h"
+
+namespace rosbag2_storage
+{
+
+class StorageFactoryImpl;
+
+/// Factory to create instances for various storage interfaces
+class StorageFactory
+{
+public:
+  explicit StorageFactory(const std::string & storage_identifier);
+
+  virtual ~StorageFactory();
+
+  /// Static function to create \sa StorageInterface given the storage_identifier
+  /**
+   * The function returns the StorageInterface base class for a specific identifier.
+   * \param storage_identifier unique string indicating which storage format to use.
+   */
+  ROSBAG2_STORAGE_PUBLIC
+  std::shared_ptr<StorageInterface>
+  get_storage_interface();
+
+private:
+  std::unique_ptr<StorageFactoryImpl> impl_;
+};
+
+}  // namespace rosbag2_storage
+
+#endif  // ROSBAG2_STORAGE__STORAGE_FACTORY_HPP_

rosbag2_storage/include/rosbag2_storage/storage_handle.hpp

@@ -0,0 +1,33 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSBAG2_STORAGE__STORAGE_HANDLE_HPP_
+#define ROSBAG2_STORAGE__STORAGE_HANDLE_HPP_
+
+#include <string>
+
+#include "rosbag2_storage/visibility_control.h"
+
+namespace rosbag2_storage
+{
+
+typedef struct ROSBAG2_STORAGE_PUBLIC_TYPE StorageHandle
+{
+  std::string storage_identifier;
+  std::string file_path;
+} StorageHandle;
+
+}  // rosbag2_storage
+
+#endif  // ROSBAG2_STORAGE__STORAGE_HANDLE_HPP_

rosbag2_storage/include/rosbag2_storage/storage_interface.hpp

@@ -0,0 +1,78 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROSBAG2_STORAGE__STORAGE_INTERFACE_HPP_
+#define ROSBAG2_STORAGE__STORAGE_INTERFACE_HPP_
+
+#include <string>
+
+#include "rosbag2_storage/storage_handle.hpp"
+#include "rosbag2_storage/visibility_control.h"
+
+namespace rosbag2_storage
+{
+
+/// Abstract base class for the storage API
+/**
+ * Every storage plugin shall implement this interface
+ * in order to be able to get correctly loaded by the storage API.
+ */
+class StorageInterface
+{
+public:
+  ROSBAG2_STORAGE_PUBLIC
+  StorageInterface() = default;
+
+  ROSBAG2_STORAGE_PUBLIC
+  virtual ~StorageInterface() = default;
+
+  /// Open the bag file given the specified path
+  /**
+   * The function opens the bag file and returns a handle to it.
+   * \param file_path the fqdn path to the bag to be loaded
+   */
+  ROSBAG2_STORAGE_PUBLIC
+  virtual
+  StorageHandle
+  open(const std::string & file_path) = 0;
+
+  /// Close the bag
+  /**
+   * The function closes the bag file which was previously opened by \sa open.
+   * \param storage_handle is the returned handle after opening the bag.
+   */
+  ROSBAG2_STORAGE_PUBLIC
+  virtual
+  bool
+  close(StorageHandle & storage_handle) = 0;
+
+  ROSBAG2_STORAGE_PUBLIC
+  virtual
+  void
+  set_storage_identifier(const std::string & storage_identifier) = 0;
+
+  /// Get the identifier for this storage handle
+  /**
+   * The function returns the unique identifier for this storage format
+   * \return string identifying the storage format
+   */
+  ROSBAG2_STORAGE_PUBLIC
+  virtual
+  std::string
+  get_storage_identifier() = 0;
+};
+
+}  // namespace rosbag2_storage
+
+#endif  // ROSBAG2_STORAGE__STORAGE_INTERFACE_HPP_

rosbag2_storage/include/rosbag2_storage/visibility_control.h

@@ -0,0 +1,56 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef ROSBAG2_STORAGE__VISIBILITY_CONTROL_H_
+#define ROSBAG2_STORAGE__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ROSBAG2_STORAGE_EXPORT __attribute__ ((dllexport))
+    #define ROSBAG2_STORAGE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ROSBAG2_STORAGE_EXPORT __declspec(dllexport)
+    #define ROSBAG2_STORAGE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ROSBAG2_STORAGE_BUILDING_DLL
+    #define ROSBAG2_STORAGE_PUBLIC ROSBAG2_STORAGE_EXPORT
+  #else
+    #define ROSBAG2_STORAGE_PUBLIC ROSBAG2_STORAGE_IMPORT
+  #endif
+  #define ROSBAG2_STORAGE_PUBLIC_TYPE ROSBAG2_STORAGE_PUBLIC
+  #define ROSBAG2_STORAGE_LOCAL
+#else
+  #define ROSBAG2_STORAGE_EXPORT __attribute__ ((visibility("default")))
+  #define ROSBAG2_STORAGE_IMPORT
+  #if __GNUC__ >= 4
+    #define ROSBAG2_STORAGE_PUBLIC __attribute__ ((visibility("default")))
+    #define ROSBAG2_STORAGE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ROSBAG2_STORAGE_PUBLIC
+    #define ROSBAG2_STORAGE_LOCAL
+  #endif
+  #define ROSBAG2_STORAGE_PUBLIC_TYPE
+#endif
+
+#endif  // ROSBAG2_STORAGE__VISIBILITY_CONTROL_H_

rosbag2_storage/package.xml

@@ -9,6 +9,9 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>pluginlib</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>