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Change default cache size for sequential_writer to a non zero value #533

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merged 5 commits into from
Oct 9, 2020
Merged

Change default cache size for sequential_writer to a non zero value #533

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8142813
Change default value for max-cache-size to 1MB
jaisontj Oct 2, 2020
2106ee5
Better help message ros2bag record
jaisontj Oct 2, 2020
aebe367
Fix test which assumes --max-cache-size to be 0
jaisontj Oct 5, 2020
ce408f3
Remove mention of default value from comments about max_cache_size
jaisontj Oct 7, 2020
044c664
Remove unnecessary assignment of default values for storageoptions in
jaisontj Oct 7, 2020
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8 changes: 5 additions & 3 deletions ros2bag/ros2bag/verb/record.py
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Expand Up @@ -67,9 +67,11 @@ def add_arguments(self, parser, cli_name): # noqa: D102
'the bag will split at whichever threshold is reached first.'
)
parser.add_argument(
'--max-cache-size', type=int, default=0,
help='maximum amount of messages to hold in cache before writing to disk. '
'Default it is zero, writing every message directly to disk.'
'--max-cache-size', type=int, default=1024*1024,
help='maximum size (in bytes) of messages to hold in cache before writing to disk. '
'Default is 1 mebibyte, everytime the cache size equals or exceeds 1MB, '
'it will be written to disk. If the value specified is 0, then every message is'
'directly written to disk.'
)
parser.add_argument(
'--compression-mode', type=str, default='none',
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2 changes: 1 addition & 1 deletion rosbag2_cpp/include/rosbag2_cpp/storage_options.hpp
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Expand Up @@ -36,7 +36,7 @@ struct StorageOptions

// The cache size indiciates how many messages can maximally be hold in cache
// before these being written to disk.
// Defaults to 0, and effectively disables the caching.
// A value of 0 disables caching and every write happens directly to disk.
uint64_t max_cache_size = 0;
};

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2 changes: 0 additions & 2 deletions rosbag2_cpp/src/rosbag2_cpp/reader.cpp
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Expand Up @@ -40,8 +40,6 @@ void Reader::open(const std::string & uri)
rosbag2_cpp::StorageOptions storage_options;
storage_options.uri = uri;
storage_options.storage_id = "sqlite3";
storage_options.max_bagfile_size = 0; // default
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I believe this assignment in unnecessary and keeps the code clean and consistent

[Note: if we want to keep this then storage_options.max_bagfile_duration = 0, is something we should add to this.]

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Yes - I think you are right. It might also make sense to move the "sqlite3" default value to the struct definition as well. No need to do that right now though

storage_options.max_cache_size = 0; // default

rosbag2_cpp::ConverterOptions converter_options{};
return open(storage_options, converter_options);
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3 changes: 2 additions & 1 deletion rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp
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Expand Up @@ -67,6 +67,7 @@ TEST_F(RecordFixture, record_end_to_end_test_with_zstd_file_compression) {
cmd << "ros2 bag record" <<
" --compression-mode file" <<
" --compression-format zstd" <<
" --max-cache-size 0" <<
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These tests assume the cache size to be 0 [disk write always] and therefore this flag is now required for them to pass.

" --output " << root_bag_path_.string() <<
" " << topic_name;

Expand Down Expand Up @@ -117,7 +118,7 @@ TEST_F(RecordFixture, record_end_to_end_test) {
wrong_message->string_value = "wrong_content";

auto process_handle = start_execution(
"ros2 bag record --output " + root_bag_path_.string() + " /test_topic");
"ros2 bag record --max-cache-size 0 --output " + root_bag_path_.string() + " /test_topic");
wait_for_db();

pub_man_.add_publisher("/test_topic", message, expected_test_messages);
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