[Iron] Add topics with zero message counts to the SQLiteStorage::get_…

…metadata(). (backport #1722) (#1766) * [Humble] Add topics with zero message counts to the SQLiteStorage::get_metadata(). (#1722) (cherry picked from commit 5da1796) # Conflicts: # rosbag2_py/test/test_convert.py # rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp Signed-off-by: Michael Orlov <[email protected]> * Address merge conflicts Signed-off-by: Michael Orlov <[email protected]> --------- Signed-off-by: Michael Orlov <[email protected]> Co-authored-by: Michael Orlov <[email protected]>
ros2 · Aug 10, 2024 · 64e7dec · 64e7dec
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commit 64e7dec
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diff --git a/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp b/rosbag2_cpp/test/rosbag2_cpp/test_sequential_reader.cpp
@@ -246,6 +246,38 @@ TEST_P(ParametrizedTemporaryDirectoryFixture, reader_accepts_bare_file) {
   EXPECT_THAT(reader.get_metadata().topics_with_message_count, SizeIs(1));
 }
 
+TEST_P(ParametrizedTemporaryDirectoryFixture, get_metadata_include_topics_with_zero_messages) {
+  const auto bag_path = rcpputils::fs::path(temporary_dir_path_) / "bag_with_no_msgs";
+  const std::string topic_name = "topic_with_0_messages";
+  const auto storage_id = GetParam();
+  {
+    rosbag2_storage::TopicMetadata topic_metadata;
+    topic_metadata.name = topic_name;
+    topic_metadata.type = "std_msgs/msg/String";
+
+    rosbag2_cpp::Writer writer;
+    rosbag2_storage::StorageOptions options;
+    options.uri = bag_path.string();
+    options.storage_id = storage_id;
+    writer.open(options);
+    writer.create_topic(topic_metadata);
+  }
+
+  rosbag2_storage::MetadataIo metadata_io;
+  ASSERT_TRUE(metadata_io.metadata_file_exists(bag_path.string()));
+  auto metadata_from_yaml = metadata_io.read_metadata(bag_path.string());
+  auto first_storage = bag_path / metadata_from_yaml.relative_file_paths[0];
+
+  rosbag2_storage::StorageFactory factory;
+  rosbag2_storage::StorageOptions options;
+  options.uri = first_storage.string();
+  options.storage_id = storage_id;
+  auto reader = factory.open_read_only(options);
+  auto metadata = reader->get_metadata();
+  ASSERT_THAT(metadata.topics_with_message_count, SizeIs(1));
+  EXPECT_EQ(metadata.topics_with_message_count[0].message_count, 0U);
+}
+
 INSTANTIATE_TEST_SUITE_P(
   BareFileTests,
   ParametrizedTemporaryDirectoryFixture,

diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -16,6 +16,7 @@
 
 #include <sys/stat.h>
 
+#include <algorithm>
 #include <atomic>
 #include <chrono>
 #include <cstring>
@@ -666,6 +667,14 @@ void SqliteStorage::read_metadata()
   rcutils_time_point_value_t min_time = INT64_MAX;
   rcutils_time_point_value_t max_time = 0;
 
+  if (all_topics_and_types_.empty()) {
+    fill_topics_and_types();
+  }
+  metadata_.topics_with_message_count.reserve(all_topics_and_types_.size());
+  for (const auto & topic_metadata : all_topics_and_types_) {
+    metadata_.topics_with_message_count.push_back({topic_metadata, 0});
+  }
+
   if (database_->field_exists("topics", "offered_qos_profiles")) {
     if (database_->field_exists("topics", "type_description_hash")) {
       std::string query =
@@ -680,12 +689,21 @@ void SqliteStorage::read_metadata()
         rcutils_time_point_value_t, std::string, std::string>();
 
       for (auto result : query_results) {
-        metadata_.topics_with_message_count.push_back(
-          {
-            {std::get<0>(result), std::get<1>(result), std::get<2>(result), std::get<6>(
-                result), std::get<7>(result)},
-            static_cast<size_t>(std::get<3>(result))
+        const rosbag2_storage::TopicMetadata topic_metadata{std::get<0>(result),
+          std::get<1>(result), std::get<2>(result), std::get<6>(result), std::get<7>(result)};
+        auto & topics_list = metadata_.topics_with_message_count;
+        auto it = std::find_if(
+          topics_list.begin(), topics_list.end(),
+          [&topic_metadata = topic_metadata](const rosbag2_storage::TopicInformation & topic_info) {
+            return topic_info.topic_metadata == topic_metadata;
           });
+        if (it != topics_list.end()) {
+          it->message_count = static_cast<size_t>(std::get<3>(result));
+        } else {
+          metadata_.topics_with_message_count.push_back(
+            {topic_metadata, static_cast<size_t>(std::get<3>(result))}
+          );
+        }
 
         metadata_.message_count += std::get<3>(result);
         min_time = std::get<4>(result) < min_time ? std::get<4>(result) : min_time;
@@ -728,12 +746,21 @@ void SqliteStorage::read_metadata()
       rcutils_time_point_value_t>();
 
     for (auto result : query_results) {
-      metadata_.topics_with_message_count.push_back(
-        {
-          {std::get<0>(result), std::get<1>(result), std::get<2>(
-              result), "", ""},
-          static_cast<size_t>(std::get<3>(result))
+      const rosbag2_storage::TopicMetadata topic_metadata{std::get<0>(result),
+        std::get<1>(result), std::get<2>(result), "", ""};
+      auto & topics_list = metadata_.topics_with_message_count;
+      auto it = std::find_if(
+        topics_list.begin(), topics_list.end(),
+        [&topic_metadata = topic_metadata](const rosbag2_storage::TopicInformation & topic_info) {
+          return topic_info.topic_metadata == topic_metadata;
         });
+      if (it != topics_list.end()) {
+        it->message_count = static_cast<size_t>(std::get<3>(result));
+      } else {
+        metadata_.topics_with_message_count.push_back(
+          {topic_metadata, static_cast<size_t>(std::get<3>(result))}
+        );
+      }
 
       metadata_.message_count += std::get<3>(result);
       min_time = std::get<4>(result) < min_time ? std::get<4>(result) : min_time;