[iron] Add ROS_DISTRO metadata record to mcap file when opening for w…

…riting (#1371) * Iron: Add ROS_DISTRO metadata record to mcap file when opening for writing Signed-off-by: Emerson Knapp <[email protected]>
ros2 · Jun 12, 2023 · 33edccf · 33edccf
1 parent 2934b59
commit 33edccf
Show file tree

Hide file tree

Showing 3 changed files with 61 additions and 0 deletions.
diff --git a/rosbag2_storage_mcap/CMakeLists.txt b/rosbag2_storage_mcap/CMakeLists.txt
@@ -107,6 +107,7 @@ if(BUILD_TESTING)
   ament_add_gmock(test_mcap_storage test/rosbag2_storage_mcap/test_mcap_storage.cpp)
   target_link_libraries(test_mcap_storage
     ${PROJECT_NAME}
+    mcap_vendor::mcap
     rosbag2_storage::rosbag2_storage
     rosbag2_test_common::rosbag2_test_common
     ${std_msgs_TARGETS}

diff --git a/rosbag2_storage_mcap/src/mcap_storage.cpp b/rosbag2_storage_mcap/src/mcap_storage.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rcpputils/env.hpp"
 #include "rcutils/logging_macros.h"
 #include "rosbag2_storage/metadata_io.hpp"
 #include "rosbag2_storage/ros_helper.hpp"
@@ -237,6 +238,7 @@ class ROSBAG2_STORAGE_MCAP_PUBLIC MCAPStorage
   bool enqueued_message_is_already_read();
   bool message_indexes_present();
   void ensure_summary_read();
+  void ensure_rosdistro_metadata_added();
 
   std::optional<rosbag2_storage::storage_interfaces::IOFlag> opened_as_;
   std::string relative_path_;
@@ -259,6 +261,7 @@ class ROSBAG2_STORAGE_MCAP_PUBLIC MCAPStorage
   std::unique_ptr<mcap::McapWriter> mcap_writer_;
 
   bool has_read_summary_ = false;
+  bool has_added_ros_distro_metadata_ = false;
   rcutils_time_point_value_t last_read_time_point_ = 0;
   std::optional<mcap::RecordOffset> last_read_message_offset_;
   std::optional<mcap::RecordOffset> last_enqueued_message_offset_;
@@ -363,6 +366,7 @@ void MCAPStorage::open_impl(const std::string & uri, const std::string & preset_
       if (!status.ok()) {
         throw std::runtime_error(status.message);
       }
+      ensure_rosdistro_metadata_added();
       break;
     }
   }
@@ -803,9 +807,24 @@ void MCAPStorage::update_metadata(const rosbag2_storage::BagMetadata & bag_metad
       "MCAP storage plugin does not support message compression, "
       "consider using chunk compression by setting `compression: 'Zstd'` in storage config");
   }
+  ensure_rosdistro_metadata_added();
 }
 #endif
 
+void MCAPStorage::ensure_rosdistro_metadata_added()
+{
+  if (!has_added_ros_distro_metadata_) {
+    mcap::Metadata metadata;
+    metadata.name = "rosbag2";
+    metadata.metadata = {{"ROS_DISTRO", rcpputils::get_env_var("ROS_DISTRO")}};
+    mcap::Status status = mcap_writer_->write(metadata);
+    if (!status.ok()) {
+      OnProblem(status);
+    }
+  }
+  has_added_ros_distro_metadata_ = true;
+}
+
 }  // namespace rosbag2_storage_plugins
 
 #include "pluginlib/class_list_macros.hpp"  // NOLINT

diff --git a/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp b/rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp
@@ -14,6 +14,7 @@
 
 #include "rclcpp/serialization.hpp"
 #include "rclcpp/serialized_message.hpp"
+#include "rcpputils/env.hpp"
 #include "rcpputils/filesystem_helper.hpp"
 #include "rosbag2_storage/storage_factory.hpp"
 #ifdef ROSBAG2_STORAGE_MCAP_HAS_STORAGE_OPTIONS
@@ -22,6 +23,8 @@
 #include "rosbag2_test_common/temporary_directory_fixture.hpp"
 #include "std_msgs/msg/string.hpp"
 
+#include <mcap/mcap.hpp>
+
 #include <gmock/gmock.h>
 
 #include <memory>
@@ -200,3 +203,41 @@ TEST_F(TemporaryDirectoryFixture, can_write_mcap_with_zstd_configured_from_yaml)
   }
 }
 #endif  // #ifdef ROSBAG2_STORAGE_MCAP_HAS_STORAGE_OPTIONS
+
+TEST_F(TemporaryDirectoryFixture, mcap_contains_ros_distro)
+{
+  // Guarantee env var set for mcap to use - in a full-build testing environment it may not be.
+  const std::string current_ros_distro = "rolling";
+  ASSERT_TRUE(rcpputils::set_env_var("ROS_DISTRO", current_ros_distro.c_str()));
+
+  const auto expected_file = rcpputils::fs::path(temporary_dir_path_) / "rosdistro_bag.mcap";
+  const auto uri = rcpputils::fs::remove_extension(expected_file);
+  const std::string storage_id = "mcap";
+  std::string read_metadata_ros_distro = "";
+
+  // Open writer to create no-data file and then delete the writer to close
+  rosbag2_storage::StorageFactory factory;
+  rosbag2_storage::StorageOptions options;
+  options.uri = uri.string();
+  options.storage_id = storage_id;
+  auto writer = factory.open_read_write(options);
+  writer.reset();
+  ASSERT_TRUE(expected_file.is_regular_file());
+
+  // Open created mcap file, read all metadata records to find rosbag2.ROS_DISTRO value
+  mcap::Status status{};
+  std::ifstream input{expected_file.string(), std::ios::binary};
+  mcap::FileStreamReader data_source{input};
+  mcap::TypedRecordReader typed_reader(data_source, 8);
+  bool done = false;
+  typed_reader.onMetadata = [&](const mcap::Metadata & metadata, mcap::ByteOffset) {
+    if (metadata.name == "rosbag2") {
+      read_metadata_ros_distro = metadata.metadata.at("ROS_DISTRO");
+      done = true;
+    }
+  };
+  while (!done && typed_reader.next()) {
+    EXPECT_TRUE(typed_reader.status().ok());
+  }
+  EXPECT_EQ(read_metadata_ros_distro, current_ros_distro);
+}