Data container: Make mapping to include multi-id and topic name. Refo…

…rmat code

examples/ulog_data.cpp

@@ -51,7 +51,7 @@ int main(int argc, char** argv)
   }
 
   // Get a particular subscription
-  const auto& subscription = data_container->subscription("vehicle_status_0");
+  const auto& subscription = data_container->subscription("vehicle_status");
 
   // Get message format of subscription
   auto message_format = subscription->format();

ulog_cpp/data_container.cpp

@@ -21,8 +21,8 @@ void DataContainer::error(const std::string& msg, bool is_recoverable)
 void DataContainer::headerComplete()
 {
   // try to resolve all message formats
-  for (auto &it : _message_formats) {
-    auto &message_format = it.second;
+  for (auto& it : _message_formats) {
+    auto& message_format = it.second;
     message_format->resolveDefinition(_message_formats);
   }
   _header_complete = true;
@@ -77,7 +77,8 @@ void DataContainer::addLoggedMessage(const AddLoggedMessage& add_logged_message)
   if (_header_complete && _storage_config == StorageConfig::Header) {
     return;
   }
-  if (_subscriptions_by_message_id.find(add_logged_message.msgId()) != _subscriptions_by_message_id.end()) {
+  if (_subscriptions_by_message_id.find(add_logged_message.msgId()) !=
+      _subscriptions_by_message_id.end()) {
     throw ParsingException("Duplicate AddLoggedMessage message ID");
   }
 
@@ -86,12 +87,13 @@ void DataContainer::addLoggedMessage(const AddLoggedMessage& add_logged_message)
     throw ParsingException("AddLoggedMessage message format not found");
   }
 
-  auto new_subscription = std::make_shared<Subscription>(add_logged_message,
-                                                         std::vector<Data>{}, format_iter->second);
+  auto new_subscription =
+      std::make_shared<Subscription>(add_logged_message, std::vector<Data>{}, format_iter->second);
   _subscriptions_by_message_id.insert({add_logged_message.msgId(), new_subscription});
 
-  const auto key = add_logged_message.messageName() + "_" + std::to_string(add_logged_message.multiId());
-  _subscriptions_by_name.insert({key, new_subscription});
+  const NameAndMultiIdKey key{add_logged_message.messageName(),
+                              static_cast<int>(add_logged_message.multiId())};
+  _subscriptions_by_name_and_multi_id.insert({key, new_subscription});
 }
 void DataContainer::logging(const Logging& logging)
 {

ulog_cpp/data_container.hpp

@@ -4,11 +4,12 @@
  ****************************************************************************/
 #pragma once
 
+#include <memory>
 #include <unordered_map>
 #include <vector>
-#include <memory>
-#include "subscription.hpp"
+
 #include "data_handler_interface.hpp"
+#include "subscription.hpp"
 
 namespace ulog_cpp {
 
@@ -19,6 +20,28 @@ class DataContainer : public DataHandlerInterface {
     FullLog,  ///< keep full log in memory
   };
 
+  struct NameAndMultiIdKey {
+    std::string name;
+    int multi_id;
+
+    NameAndMultiIdKey(const std::string& name, int multi_id) : name(name), multi_id(multi_id) {}
+
+    bool operator==(const NameAndMultiIdKey& other) const
+    {
+      return name == other.name && multi_id == other.multi_id;
+    }
+
+    bool operator<(const NameAndMultiIdKey& other) const
+    {
+      return name < other.name || (name == other.name && multi_id < other.multi_id);
+    }
+
+    bool operator>(const NameAndMultiIdKey& other) const
+    {
+      return name > other.name || (name == other.name && multi_id > other.multi_id);
+    }
+  };
+
   explicit DataContainer(StorageConfig storage_config);
   virtual ~DataContainer() = default;
 
@@ -46,7 +69,10 @@ class DataContainer : public DataHandlerInterface {
   {
     return _message_info_multi;
   }
-  const std::map<std::string, std::shared_ptr<MessageFormat>>& messageFormats() const { return _message_formats; }
+  const std::map<std::string, std::shared_ptr<MessageFormat>>& messageFormats() const
+  {
+    return _message_formats;
+  }
   const std::map<std::string, Parameter>& initialParameters() const { return _initial_parameters; }
   const std::map<std::string, ParameterDefault>& defaultParameters() const
   {
@@ -56,20 +82,28 @@ class DataContainer : public DataHandlerInterface {
   const std::vector<Logging>& logging() const { return _logging; }
   const std::vector<Dropout>& dropouts() const { return _dropouts; }
 
-  const std::map<std::string, std::shared_ptr<Subscription>>& subscriptionsByName() {
-    return _subscriptions_by_name;
+  const std::map<NameAndMultiIdKey, std::shared_ptr<Subscription>>& subscriptionsByNameAndMultiId()
+  {
+    return _subscriptions_by_name_and_multi_id;
   }
 
-  std::vector<std::string> subscriptionNames() const {
+  std::vector<std::string> subscriptionNames() const
+  {
     std::vector<std::string> names;
-    for (const auto& kv : _subscriptions_by_name) {
-      names.push_back(kv.first);
+    for (const auto& kv : _subscriptions_by_name_and_multi_id) {
+      names.push_back(kv.first.name);
     }
     return names;
   }
 
-  std::shared_ptr<Subscription> subscription(const std::string& name) {
-    return _subscriptions_by_name.at(name);
+  std::shared_ptr<Subscription> subscription(const std::string& name, int multi_id) const
+  {
+    return _subscriptions_by_name_and_multi_id.at({name, multi_id});
+  }
+
+  std::shared_ptr<Subscription> subscription(const std::string& name) const
+  {
+    return _subscriptions_by_name_and_multi_id.at({name, 0});
   }
 
  private:
@@ -87,7 +121,7 @@ class DataContainer : public DataHandlerInterface {
   std::map<std::string, ParameterDefault> _default_parameters;
   std::vector<Parameter> _changed_parameters;
   std::map<uint16_t, std::shared_ptr<Subscription>> _subscriptions_by_message_id;
-  std::map<std::string, std::shared_ptr<Subscription>> _subscriptions_by_name;
+  std::map<NameAndMultiIdKey, std::shared_ptr<Subscription>> _subscriptions_by_name_and_multi_id;
   std::vector<Logging> _logging;
   std::vector<Dropout> _dropouts;
 };