[humble] rosbag2_storage: expose default storage ID as method (backport #1146)

ros2bag/ros2bag/verb/record.py

@@ -21,6 +21,7 @@
 from ros2bag.api import print_error
 from ros2bag.verb import VerbExtension
 from ros2cli.node import NODE_NAME_PREFIX
+from rosbag2_py import get_default_storage_id
 from rosbag2_py import get_registered_compressors
 from rosbag2_py import get_registered_serializers
 from rosbag2_py import get_registered_writers
@@ -35,7 +36,9 @@ class RecordVerb(VerbExtension):
 
     def add_arguments(self, parser, cli_name):  # noqa: D102
         writer_choices = get_registered_writers()
-        default_writer = 'sqlite3' if 'sqlite3' in writer_choices else writer_choices[0]
+        default_storage_id = get_default_storage_id()
+        default_writer = default_storage_id if default_storage_id in writer_choices else \
+            next(iter(writer_choices))
 
         compression_format_choices = get_registered_compressors()
         serialization_choices = get_registered_serializers()

rosbag2_cpp/src/rosbag2_cpp/writer.cpp

@@ -32,12 +32,14 @@
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosbag2_storage/storage_options.hpp"
 #include "rosbag2_storage/topic_metadata.hpp"
+#include "rosbag2_storage/default_storage_id.hpp"
 
 #include "rmw/rmw.h"
 
 namespace rosbag2_cpp
 {
 
+
 Writer::Writer(std::unique_ptr<rosbag2_cpp::writer_interfaces::BaseWriterInterface> writer_impl)
 : writer_impl_(std::move(writer_impl))
 {}
@@ -51,6 +53,7 @@ void Writer::open(const std::string & uri)
 {
   rosbag2_storage::StorageOptions storage_options;
   storage_options.uri = uri;
+  storage_options.storage_id = rosbag2_storage::get_default_storage_id();
 
   rosbag2_cpp::ConverterOptions converter_options{};
   return open(storage_options, converter_options);

rosbag2_py/rosbag2_py/__init__.py

@@ -37,6 +37,7 @@
         get_registered_writers,
         get_registered_compressors,
         get_registered_serializers,
+        get_default_storage_id,
     )
     from rosbag2_py._info import (
         Info,
@@ -55,6 +56,7 @@
 __all__ = [
     'bag_rewrite',
     'ConverterOptions',
+    'get_default_storage_id',
     'get_registered_readers',
     'get_registered_writers',
     'get_registered_compressors',

rosbag2_py/src/rosbag2_py/_writer.cpp

@@ -23,6 +23,7 @@
 #include "rosbag2_cpp/writer.hpp"
 #include "rosbag2_cpp/writers/sequential_writer.hpp"
 #include "rosbag2_cpp/serialization_format_converter_factory.hpp"
+#include "rosbag2_storage/default_storage_id.hpp"
 #include "rosbag2_storage/ros_helper.hpp"
 #include "rosbag2_storage/storage_filter.hpp"
 #include "rosbag2_storage/storage_interfaces/read_write_interface.hpp"
@@ -141,4 +142,9 @@ PYBIND11_MODULE(_writer, m) {
     "get_registered_serializers",
     &rosbag2_py::get_registered_serializers,
     "Returns list of serialization format plugins available for rosbag2 recording");
+
+  m.def(
+    "get_default_storage_id",
+    &rosbag2_storage::get_default_storage_id,
+    "Returns the default storage ID used when unspecified in StorageOptions");
 }

rosbag2_storage/CMakeLists.txt

@@ -29,6 +29,7 @@ find_package(yaml_cpp_vendor REQUIRED)
 add_library(
   ${PROJECT_NAME}
   SHARED
+  src/rosbag2_storage/default_storage_id.cpp
   src/rosbag2_storage/metadata_io.cpp
   src/rosbag2_storage/ros_helper.cpp
   src/rosbag2_storage/storage_factory.cpp

rosbag2_storage/include/rosbag2_storage/default_storage_id.hpp

@@ -0,0 +1,29 @@
+// Copyright 2022, Foxglove Technologies Inc. All rights reserved.
+//
+// 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__DEFAULT_STORAGE_ID_HPP_
+#define ROSBAG2_STORAGE__DEFAULT_STORAGE_ID_HPP_
+
+#include <string>
+
+#include "rosbag2_storage/visibility_control.hpp"
+
+namespace rosbag2_storage
+{
+
+ROSBAG2_STORAGE_PUBLIC std::string get_default_storage_id();
+
+}  // namespace rosbag2_storage
+
+#endif  // ROSBAG2_STORAGE__DEFAULT_STORAGE_ID_HPP_

rosbag2_storage/src/rosbag2_storage/default_storage_id.cpp

@@ -0,0 +1,24 @@
+// Copyright 2022, Foxglove Technologies Inc. All rights reserved.
+//
+// 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.
+#include "rosbag2_storage/default_storage_id.hpp"
+
+namespace rosbag2_storage
+{
+
+std::string get_default_storage_id()
+{
+  return "sqlite3";
+}
+
+}  // namespace rosbag2_storage