Docker

ddsrecorder/src/cpp/writer/implementations/recorder/RecorderWriter.cpp

@@ -54,7 +54,7 @@ utils::ReturnCode RecorderWriter::write_(
     }
     catch(const utils::Exception& e)
     {
-        logError(
+        logWarning(
             DDSRECORDER_RECORDER_WRITER,
             "Error storing data: <" << e.what() << ">.\nContinue recording...");
     }

ddsrecorder/src/cpp/writer/implementations/recorder/TypeObjectWriter.cpp

@@ -61,6 +61,9 @@ utils::ReturnCode TypeObjectWriter::write_(
         // TODO: this will call multiple times to generate_type_object_schema unnecesary
         // Add this type object as a new schema
         mcap_handler_->add_schema(type_name, recorder::generate_dyn_type_schema(dyn_type));
+
+        logUser(DDSRECORDER_RECORDER_WRITER,
+            "Type Object " << type_name << " stored.");
     }
     catch(const utils::Exception& e)
     {

docker/Dockerfile

@@ -0,0 +1,58 @@
+#########################################################################################
+# DDS Recorder Demos Dockerfile
+#########################################################################################
+
+FROM ubuntu:jammy
+
+# Avoids using interactions during building
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Use a bash shell so it is possigle to run things like `source` (required for colcon builds)
+SHELL ["/bin/bash", "-c"]
+
+# Avoid interactuation with installation of some package that needs the locale.
+ENV TZ=Europe/Madrid
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Download DDS Recorder dependencies
+RUN apt update && \
+    apt install -y \
+        cmake \
+        g++ \
+        pip \
+        wget \
+        git \
+        libasio-dev \
+        libtinyxml2-dev \
+        libssl-dev \
+        libyaml-cpp-dev \
+        liblz4-dev \
+        libzstd-dev && \
+    pip3 install -U colcon-common-extensions vcstool
+
+# Download eProsima dependencies
+WORKDIR /ddsrecorder
+RUN wget https://raw.githubusercontent.com/eProsima/DDS-Recorder/feature/docker/docker/recorder.repos && \
+    mkdir src && \
+    vcs import src < recorder.repos
+
+# Build DDS Recorder
+RUN colcon build
+
+# Add DDS Recorder configuration files
+COPY resources resources
+
+# Build TypeIntrospection example
+WORKDIR /dyn_types_example
+RUN cp -r /ddsrecorder/src/fastdds/examples/cpp/dds/TypeIntrospectionExample/* . && \
+    source /ddsrecorder/install/setup.bash && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make
+
+# Source built workspace
+RUN echo "source /ddsrecorder/install/setup.bash" >> ~/.bashrc
+
+# Restore working directory to default
+WORKDIR /

docker/README.md

@@ -0,0 +1,98 @@
+# eProsima DDS Recorder docker Image
+
+This image is installed with a DDS Recorder Prototype that is able to run a `DDS Recorder` application
+Fast DDS, DDS Recorder and all dependencies are already installed in the image.
+In order to run the image use the following command.
+
+---
+
+## DDS Recorder Tool
+
+This tool is a CLI tool with several arguments and configured by a `.yaml` file.
+This tool subscribes to allowed DDS Topics and record the data received in a `.mcap` file.
+The schemas to deserialize this data in FoxGlove are also written in the `.mcap` file in `.msg` ROS 2 format.
+Those schemas are generated when the tool has access to the Type Object or Type Identifier of the Data Type used.
+
+### How to retrieve Data Type to the tool
+
+Fast DDS does not send the Data Type information by default, it must be configured to do so.
+First of all, when generating the Types using Fast DDS Gen, the option `-typeobject` must be added in order to generate the needed code to fill the TypeObject data.
+
+For native types (Data Types that does not rely in other Data Types) this is enough, as Fast DDS will send the TypeObject by default.
+However, for more complex types, it is required to use `TypeInformation` mechanism.
+In the Fast DDS `DomainParticipant` set the following QoS in order to send this information:
+
+```cpp
+DomainParticipantQos pqos;
+pqos.wire_protocol().builtin.typelookup_config.use_server = true;
+```
+
+---
+
+## Run DDS Recorder
+
+There are some configurations already available in the container under directory `/ddsrecorder/resources/`
+
+- `simple_configuration.yaml` Configuration with just the basics to run the executable.
+- `complete_configuration.yaml` Configuration with all the possible configurations available.
+
+In order to execute the `DDS Recorder` use the following command:
+```bash
+ddsrecorder --config-path /ddsrecorder/resources/<configuration>.yaml
+```
+
+In order to know all the possible arguments supported by this tool, use the command:
+```bash
+ddsrecorder --help` or `ddsrecorder -h
+```
+
+In order to see further information and debugging info about what the tool is executing, use the argument `--debug`:
+```bash
+ddsrecorder --config-path /ddsrecorder/resources/<configuration>.yaml --debug
+```
+
+### Use Custom Configurations
+
+There are 2 ways to write a custom configuration:
+
+1. Modify a `.yaml` file within the container instance.
+2. Using shared volumes to share the `.yaml` configuration file.
+
+### Run with shared volume
+
+In order to automatically retrieve every `.mcap` file generated inside the container, use a docker volume.
+Run the following command to share your local `<shared/folder> and container `<shared/folder>`.
+
+```bash
+docker run -it --net=host --ipc=host --privileged --volume $(pwd)/<shared/folder>/:<shared/folder>  ddsrecorder:v0.1.0
+```
+
+
+### Connectivity issues
+
+- `--net=host` allow the DDS Recorder to connect with external (different device) participants.
+- `--ipc=host` allow the DDS Recorder to use Shared Memory Transport with the participants in the same host.
+
+If local Participants (same host) are unable to connect with the DDS Recorder inside a Docker, it may be because they try to use Shared Memory, but the docker has no access to the same shared segment.
+To avoid this, run the other participants as `root` or change the docker image user name to be the same as the external participants one.
+Other option may be to not using Shared Memory by disabling it by Fast DDS configuration (by XML or QoS in code) or by CMake option when compiling `-DSHM_TRANSPORT_DEFAULT=ON`.
+
+---
+
+## Configuration
+
+This first version does support the following configurations:
+
+|               | Description                                                 | Type           | Default   |
+|---------------|-------------------------------------------------------------|----------------|-----------|
+| allowlist     | List of topics that are going to be recorded                | List of topics | Empty     |
+| blocklist     | List of topics that are **not** going to be recorded        | List of topics | Empty     |
+| domain        | DDS Domain to discover and subscribe to topics allowed      | integer        | 0         |
+| extension     | File extension for the result file                          | string         | .mcap     |
+| filename      | File name for the result file                               | string         | MANDATORY |
+| path          | Path to result file                                         | string         | ./        |
+| use-timestamp | Whether to add or not the timestamp to the result file name | bool           | true      |
+
+The topics in `allowlist` and `blocklist` are filled with elements with field `name` referring to the Topic name.
+Optionally each element can have the element `type` referring to the Topic Data Type name.
+Both name and allow wildcards (`*`).

docker/__internal_info__.md

@@ -0,0 +1,14 @@
+# Instructions to build the Docker image
+
+## Branches
+
+- Fast DDS: `bugfix/complex-dynamic-types`
+- DDS Recorder: `prototype`
+
+## Commands
+
+build
+```sh
+# Build docker image
+docker build --rm -t ddsrecorder:figure -f Dockerfile .
+```

docker/recorder.repos

@@ -0,0 +1,21 @@
+repositories:
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: master
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: master
+    fastdds:
+        type: git
+        url: https://github.com/eProsima/Fast-DDS.git
+        version: bugfix/complex-dynamic-types
+    dev-utils:
+        type: git
+        url: https://github.com/eProsima/dev-utils.git
+        version: main
+    ddsrecorder:
+        type: git
+        url: https://github.com/eProsima/DDS-Recorder.git
+        version: prototype

docker/resources/complete_configuration.yaml

@@ -0,0 +1,16 @@
+# Allowed topics - Optional (Default: "*")
+allowlist:
+  - name: "*"
+
+# Blocked topics - Optional (Default: empty)
+blocklist:
+  - name: "add_blocked_topics_list_here"
+
+# DDS Domain - Optional (Default: 0)
+domain: 0
+
+# Recorder output file
+extension: ".mcap"    # Optional (Default: ".mcap")
+path: "."             # Optional (Default: ".")
+filename: "output"    # Required
+use-timestamp: true   # Optional (Default: true)

docker/resources/simple_configuration.yaml

@@ -0,0 +1,6 @@
+# DDS Domain - Optional (Default: 0)
+domain: 0
+
+# Recorder output file
+filename: "output"    # Required
+use-timestamp: false  # Optional (Default: true)