Display bag summary using ros2 bag info (reduced size)

ros2bag/ros2bag/verb/info.py

@@ -12,18 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 import sys
 
 from ros2bag.verb import VerbExtension
 
+from rosbag2_transport import rosbag2_transport_py
+
 
 class InfoVerb(VerbExtension):
     """ros2 bag info."""
 
     def add_arguments(self, parser, cli_name):  # noqa: D102
-        arg = parser.add_argument(
+        parser.add_argument(
             'bag_file', help='bag file to introspect')
 
     def main(self, *, args):  # noqa: D102
         bag_file = args.bag_file
-        print('calling ros2 bag info on', bag_file)
+        if not os.path.exists(bag_file):
+            return "Error: bag file '{}' does not exist!".format(bag_file)
+
+        rosbag2_transport_py.info(uri=bag_file)

ros2bag/ros2bag/verb/record.py

@@ -43,6 +43,12 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '-s', '--storage', default='sqlite3',
             help='storage identifier to be used, defaults to "sqlite3"')
 
+    def create_bag_directory(self, uri):
+        try:
+            os.makedirs(uri)
+        except:
+            return "Error: Could not create bag folder '{}'.".format(uri)
+
     def main(self, *, args):  # noqa: D102
         if args.all and args.topics:
             return 'Invalid choice: Can not specify topics and -a at the same time.'
@@ -52,14 +58,14 @@ def main(self, *, args):  # noqa: D102
         if os.path.isdir(uri):
             return "Error: Output folder '{}' already exists.".format(uri)
 
-        try:
-            os.makedirs(uri)
-        except:
-            return "Error: Could not create bag folder '{}'.".format(uri)
+        self.create_bag_directory(uri)
 
         if args.all:
             rosbag2_transport_py.record(uri=uri, storage_id=args.storage, all=True)
         elif args.topics and len(args.topics) > 0:
             rosbag2_transport_py.record(uri=uri, storage_id=args.storage, topics=args.topics)
         else:
             self._subparser.print_help()
+
+        if os.path.isdir(uri) and not os.listdir(uri):
+            os.rmdir(uri)

rosbag2/CMakeLists.txt

@@ -25,6 +25,7 @@ find_package(rosbag2_storage REQUIRED)
 find_package(rosidl_generator_cpp REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
+  src/rosbag2/info.cpp
   src/rosbag2/sequential_reader.cpp
   src/rosbag2/serialization_format_converter_factory.cpp
   src/rosbag2/typesupport_helpers.cpp
@@ -71,13 +72,6 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gmock(test_typesupport_helpers
-    test/rosbag2/test_typesupport_helpers.cpp
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
-  if(TARGET test_typesupport_helpers)
-    target_link_libraries(test_typesupport_helpers rosbag2)
-  endif()
-
   add_library(
     converter_test_plugin
     SHARED
@@ -96,6 +90,22 @@ if(BUILD_TESTING)
     target_include_directories(test_converter_factory PRIVATE include)
     target_link_libraries(test_converter_factory rosbag2)
   endif()
+
+  ament_add_gmock(test_typesupport_helpers
+    test/rosbag2/test_typesupport_helpers.cpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_typesupport_helpers)
+    target_link_libraries(test_typesupport_helpers rosbag2)
+  endif()
+
+  ament_add_gmock(test_info
+    test/rosbag2/test_info.cpp
+    test/rosbag2/mock_metadata_io.hpp
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  if(TARGET test_info)
+    target_link_libraries(test_info rosbag2)
+    ament_target_dependencies(test_info rosbag2_test_common)
+  endif()
 endif()
 
 ament_package()

rosbag2/include/rosbag2/info.hpp

@@ -0,0 +1,37 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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__INFO_HPP_
+#define ROSBAG2__INFO_HPP_
+
+#include <string>
+
+#include "rosbag2/types.hpp"
+#include "visibility_control.hpp"
+
+namespace rosbag2
+{
+
+class ROSBAG2_PUBLIC Info
+{
+public:
+  virtual ~Info() = default;
+
+  virtual rosbag2::BagMetadata read_metadata(
+    const std::string & uri, const std::string & storage_id = "");
+};
+
+}  // namespace rosbag2
+
+#endif  // ROSBAG2__INFO_HPP_

rosbag2/include/rosbag2/types.hpp

@@ -15,12 +15,15 @@
 #ifndef ROSBAG2__TYPES_HPP_
 #define ROSBAG2__TYPES_HPP_
 
+#include "rosbag2_storage/bag_metadata.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosbag2_storage/topic_with_type.hpp"
 
 namespace rosbag2
 {
+using BagMetadata = rosbag2_storage::BagMetadata;
 using SerializedBagMessage = rosbag2_storage::SerializedBagMessage;
+using TopicMetadata = rosbag2_storage::TopicMetadata;
 using TopicWithType = rosbag2_storage::TopicWithType;
 }  // namespace rosbag2
 

rosbag2/include/rosbag2/writer.hpp

@@ -70,6 +70,7 @@ class ROSBAG2_PUBLIC Writer
   virtual void write(std::shared_ptr<SerializedBagMessage> message);
 
 private:
+  std::string uri_;
   rosbag2_storage::StorageFactory factory_;
   std::shared_ptr<rosbag2_storage::storage_interfaces::ReadWriteInterface> storage_;
 };

rosbag2/package.xml

@@ -20,6 +20,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>test_msgs</test_depend>
+  <test_depend>rosbag2_test_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rosbag2/src/rosbag2/info.cpp

@@ -0,0 +1,48 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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/info.hpp"
+
+#include <memory>
+#include <string>
+
+#include "rosbag2_storage/filesystem_helper.hpp"
+#include "rosbag2_storage/metadata_io.hpp"
+#include "rosbag2_storage/storage_factory.hpp"
+
+namespace rosbag2
+{
+
+rosbag2::BagMetadata Info::read_metadata(const std::string & uri, const std::string & storage_id)
+{
+  rosbag2_storage::MetadataIo metadata_io;
+  if (metadata_io.metadata_file_exists(uri)) {
+    return metadata_io.read_metadata(uri);
+  }
+  if (!storage_id.empty()) {
+    rosbag2_storage::StorageFactory factory;
+    std::shared_ptr<rosbag2_storage::storage_interfaces::ReadOnlyInterface> storage;
+    storage = factory.open_read_only(uri, storage_id);
+    if (!storage) {
+      throw std::runtime_error("The metadata.yaml file does not exist and the bag could not be "
+              "opened.");
+    }
+    auto bag_metadata = storage->get_metadata();
+    bag_metadata.bag_size = rosbag2_storage::FilesystemHelper::calculate_directory_size(uri);
+    return bag_metadata;
+  }
+  throw std::runtime_error("The metadata.yaml file does not exist. Please specify a the "
+          "storage id of the bagfile to query it directly");
+}
+}  // namespace rosbag2

rosbag2/src/rosbag2/writer.cpp

@@ -16,14 +16,22 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
+#include "rosbag2_storage/metadata_io.hpp"
+#include "rosbag2/info.hpp"
 #include "rosbag2/storage_options.hpp"
 
 namespace rosbag2
 {
 
 Writer::~Writer()
 {
+  if (!uri_.empty()) {
+    rosbag2_storage::MetadataIo metadata_io;
+    metadata_io.write_metadata(uri_, storage_->get_metadata());
+  }
+
   storage_.reset();  // Necessary to ensure that the writer is destroyed before the factory
 }
 
@@ -33,6 +41,7 @@ void Writer::open(const StorageOptions & options)
   if (!storage_) {
     throw std::runtime_error("No storage could be initialized. Abort");
   }
+  uri_ = options.uri;
 }
 
 void Writer::create_topic(const TopicWithType & topic_with_type)

rosbag2/test/rosbag2/mock_metadata_io.hpp

@@ -0,0 +1,34 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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__MOCK_METADATA_IO_HPP_
+#define ROSBAG2__MOCK_METADATA_IO_HPP_
+
+#include <gmock/gmock.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rosbag2_storage/bag_metadata.hpp"
+#include "rosbag2_storage/metadata_io.hpp"
+
+class MockMetadataIo : public rosbag2_storage::MetadataIo
+{
+public:
+  MOCK_METHOD2(write_metadata, void(const std::string &, rosbag2_storage::BagMetadata));
+  MOCK_METHOD1(read_metadata, rosbag2_storage::BagMetadata(const std::string &));
+};
+
+#endif  // ROSBAG2__MOCK_METADATA_IO_HPP_

rosbag2/test/rosbag2/mock_storage.hpp

@@ -0,0 +1,63 @@
+// Copyright 2018, Bosch Software Innovations GmbH.
+//
+// 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__MOCK_STORAGE_HPP_
+#define ROSBAG2__MOCK_STORAGE_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rosbag2_storage/bag_metadata.hpp"
+#include "rosbag2_storage/serialized_bag_message.hpp"
+#include "rosbag2_storage/topic_with_type.hpp"
+#include "rosbag2_storage/storage_interfaces/read_write_interface.hpp"
+
+class MockStorage : public rosbag2_storage::storage_interfaces::ReadWriteInterface
+{
+public:
+  ~MockStorage() override = default;
+
+  void open(const std::string & uri, rosbag2_storage::storage_interfaces::IOFlag flag) override
+  {
+    (void) uri;
+    (void) flag;
+  }
+
+  void create_topic(const rosbag2_storage::TopicWithType & topic) override
+  {
+    (void) topic;
+  }
+
+  bool has_next() override {return true;}
+
+  std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override {return nullptr;}
+
+  void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override
+  {
+    (void) msg;
+  }
+
+  std::vector<rosbag2_storage::TopicWithType> get_all_topics_and_types() override
+  {
+    return std::vector<rosbag2_storage::TopicWithType>();
+  }
+
+  rosbag2_storage::BagMetadata get_metadata() override
+  {
+    return rosbag2_storage::BagMetadata();
+  }
+};
+
+#endif  // ROSBAG2__MOCK_STORAGE_HPP_