[measurement] GetChannelDataTypeInformation / SetChannelDataTypeInfor…

…mation (#1349) Provide atomic operations to get and set meta-information related to the channel Co-authored-by: Rex Schilasky <[email protected]>
eclipse-ecal · Feb 16, 2024 · 7701fcd · 7701fcd
1 parent 36d9413
commit 7701fcd
Show file tree

Hide file tree

Showing 32 changed files with 419 additions and 336 deletions.
diff --git a/app/meas_cutter/src/measurement_exporter.cpp b/app/meas_cutter/src/measurement_exporter.cpp
@@ -54,15 +54,18 @@ MeasurementExporter::~MeasurementExporter()
 void MeasurementExporter::createChannel(const std::string& channel_name, const eCALMeasCutterUtils::ChannelInfo& channel_info)
 {
   _current_channel_name = channel_name;
+  eCAL::experimental::measurement::base::DataTypeInformation data_type_info;
   if (channel_info.format == eCALMeasCutterUtils::SerializationFormat::PROTOBUF)
   {
-    _writer->SetChannelType(channel_name, "proto:" + channel_info.type);
+    data_type_info.encoding = "proto";
   }
   else
   {
-    _writer->SetChannelType(channel_name, channel_info.type);
+    data_type_info.encoding = "";
   }
-  _writer->SetChannelDescription(channel_name, channel_info.description);
+  data_type_info.name = channel_info.type;
+  data_type_info.descriptor = channel_info.description;
+  _writer->SetChannelDataTypeInformation(channel_name, data_type_info);
 }
 
 void MeasurementExporter::setData(eCALMeasCutterUtils::Timestamp timestamp, const eCALMeasCutterUtils::MetaData& meta_data, const std::string& payload)

diff --git a/app/meas_cutter/src/measurement_importer.cpp b/app/meas_cutter/src/measurement_importer.cpp
@@ -67,17 +67,17 @@ void MeasurementImporter::openChannel(const std::string& channel_name)
   _current_opened_channel_data._timestamps.clear();
   _current_opened_channel_data._timestamp_entry_info_map.clear();
 
-  if (isProtoChannel(_reader->GetChannelType(channel_name)))
+  auto channel_information = _reader->GetChannelDataTypeInformation(channel_name);
+  if (isProtoChannel(channel_information))
   {
     _current_opened_channel_data._channel_info.format = eCALMeasCutterUtils::SerializationFormat::PROTOBUF;
-    _current_opened_channel_data._channel_info.type   = _reader->GetChannelType(channel_name).substr(6); // remove "proto:" from type string
   }
   else
   {
     _current_opened_channel_data._channel_info.format = eCALMeasCutterUtils::SerializationFormat::UNKNOWN;
-    _current_opened_channel_data._channel_info.type   = _reader->GetChannelType(channel_name);
   }
-  _current_opened_channel_data._channel_info.description = _reader->GetChannelDescription(channel_name);
+  _current_opened_channel_data._channel_info.type = channel_information.name;
+  _current_opened_channel_data._channel_info.description = channel_information.descriptor;
   _current_opened_channel_data._channel_info.name = channel_name;
 
   eCAL::experimental::measurement::base::EntryInfoSet entry_info_set;
@@ -177,10 +177,9 @@ bool MeasurementImporter::isEcalMeasFile(const std::string& path)
   return false;
 }
 
-bool MeasurementImporter::isProtoChannel(const std::string& channel_type)
+bool MeasurementImporter::isProtoChannel(const eCAL::experimental::measurement::base::DataTypeInformation& channel_info)
 {
-  std::string space = channel_type.substr(0, channel_type.find_first_of(':'));
-  return (space.compare("proto") == 0);
+  return (channel_info.encoding == "proto");
 }
 
 std::string MeasurementImporter::getLoadedPath()

diff --git a/app/meas_cutter/src/measurement_importer.h b/app/meas_cutter/src/measurement_importer.h
@@ -52,7 +52,7 @@ class MeasurementImporter
 
 private:
   bool                                 isEcalMeasFile(const std::string& path);
-  bool                                 isProtoChannel(const std::string& channel_type);
+  bool                                 isProtoChannel(const eCAL::experimental::measurement::base::DataTypeInformation& channel_info);
   std::unique_ptr<eCAL::experimental::measurement::base::Reader>      _reader;
   eCALMeasCutterUtils::ChannelData                      _current_opened_channel_data;
   std::string                                           _loaded_path;

diff --git a/app/play/play_core/src/measurement_container.cpp b/app/play/play_core/src/measurement_container.cpp
@@ -129,10 +129,12 @@ void MeasurementContainer::CreatePublishers(const std::map<std::string, std::str
   // Create new publishers
   for (const auto& channel_mapping : publisher_map)
   {
-    auto topic_type        = hdf5_meas_->GetChannelType(channel_mapping.first);
-    auto topic_description = hdf5_meas_->GetChannelDescription(channel_mapping.first);
-
-    publisher_map_.emplace(channel_mapping.first, PublisherInfo(channel_mapping.second, topic_type, topic_description));
+    auto topic_info        = hdf5_meas_->GetChannelDataTypeInformation(channel_mapping.first);
+    eCAL::SDataTypeInformation data_type_info;
+    data_type_info.name = topic_info.name;
+    data_type_info.encoding = topic_info.encoding;
+    data_type_info.descriptor = topic_info.descriptor;
+    publisher_map_.emplace(channel_mapping.first, PublisherInfo(channel_mapping.second, data_type_info));
   }
 
   // Assign publishers to entries
@@ -307,7 +309,9 @@ double MeasurementContainer::GetMaxTimestampOfChannel(const std::string& channel
 
 std::string MeasurementContainer::GetChannelType(const std::string& channel_name) const
 {
-  return hdf5_meas_->GetChannelType(channel_name);
+  // This function needs to also return the proper datatypes information! To clean up.
+  auto datatype_information = hdf5_meas_->GetChannelDataTypeInformation(channel_name);
+  return eCAL::Util::CombinedTopicEncodingAndType(datatype_information.encoding, datatype_information.name);
 }
 
 size_t MeasurementContainer::GetChannelCumulativeEstimatedSize(const std::string& channel_name) const

diff --git a/app/play/play_core/src/measurement_container.h b/app/play/play_core/src/measurement_container.h
@@ -92,8 +92,8 @@ class MeasurementContainer
     eCAL::CPublisher publisher_;
     long long message_counter_;
 
-    PublisherInfo(const std::string& topic_name, const std::string& topic_type = "", const std::string& topic_description = "")
-      : publisher_(topic_name, topic_type, topic_description)
+    PublisherInfo(const std::string& topic_name, const eCAL::SDataTypeInformation& info_)
+      : publisher_(topic_name, info_)
       , message_counter_(0)
     {}
   };

diff --git a/app/rec/rec_client_core/include/rec_client_core/topic_info.h b/app/rec/rec_client_core/include/rec_client_core/topic_info.h
@@ -22,24 +22,56 @@
 #include <string>
 #include <set>
 #include <map>
+#include <ecal/ecal_types.h>
 
 namespace eCAL
 {
   namespace rec
   {
     struct TopicInfo
     {
-      TopicInfo(const std::string& type, const std::string& description)
-        : type_(type), description_(description), description_quality_(0)
+      TopicInfo(const eCAL::SDataTypeInformation& tinfo)
+        : tinfo_(tinfo)
       {}
+
+      TopicInfo(const std::string& type, const std::string& encoding, const std::string& description)
+        : tinfo_{ type, encoding, description }
+      {}
+
       TopicInfo() 
-        : description_quality_(0)
       {}
 
-      std::string type_;
-      std::string description_;
+      eCAL::SDataTypeInformation tinfo_;
+
+      //  This should be removed once internally SDatatypeInformation is saved alongside with the publisher ID..
+      std::string GetLegacyType() const
+      {
+        if (tinfo_.encoding.empty())
+        {
+          return tinfo_.name;
+        }
+        else
+        {
+          return tinfo_.encoding + ":" + tinfo_.name;
+        }
+      }
+
+      void SetLegacyType(const std::string& combined_topic_type_)
+      {
+        auto pos = combined_topic_type_.find(':');
+        if (pos == std::string::npos)
+        {
+          tinfo_.encoding = "";
+          tinfo_.name = combined_topic_type_;
+        }
+        else
+        {
+          tinfo_.encoding = combined_topic_type_.substr(0, pos);
+          tinfo_.name = combined_topic_type_.substr(pos + 1);
+        }
+      }
 
-      int description_quality_;
+      int description_quality_ = 0;
 
       std::map<std::string, std::set<std::string>> publishers_;
     };

diff --git a/app/rec/rec_client_core/src/job/hdf5_writer_thread.cpp b/app/rec/rec_client_core/src/job/hdf5_writer_thread.cpp
@@ -169,8 +169,8 @@ namespace eCAL
 
           for (const auto& topic : topic_info_map_to_set)
           {
-            hdf5_writer_->SetChannelType(topic.first, topic.second.type_);
-            hdf5_writer_->SetChannelDescription(topic.first, topic.second.description_);
+            eCAL::experimental::measurement::base::DataTypeInformation const topic_info{ topic.second.tinfo_.name, topic.second.tinfo_.encoding, topic.second.tinfo_.descriptor };
+            hdf5_writer_->SetChannelDataTypeInformation(topic.first, topic_info);
           }
         }
         else if (frame)

diff --git a/app/rec/rec_client_core/src/monitoring_thread.cpp b/app/rec/rec_client_core/src/monitoring_thread.cpp
@@ -84,7 +84,7 @@ namespace eCAL
             if (topic_info_map_it == topic_info_map_.end())
             {
               // Create a new topic entry
-              topic_info_map_.emplace(topic.tname(), eCAL::rec::TopicInfo("", ""));
+              topic_info_map_.emplace(topic.tname(), eCAL::rec::TopicInfo("", "", ""));
               topic_info_map_it = topic_info_map_.find(topic.tname());
             }
 
@@ -166,18 +166,18 @@ namespace eCAL
             if ((channel_descriptor_entry_it != channel_descriptor_map.end())
               && (channel_descriptor_entry_it->second.first >= topic_info_map_entry.second.description_quality_))
             {
-              topic_info_map_entry.second.type_                = channel_descriptor_entry_it->second.second.first;
-              topic_info_map_entry.second.description_         = channel_descriptor_entry_it->second.second.second;
+              topic_info_map_entry.second.SetLegacyType(channel_descriptor_entry_it->second.second.first);
+              topic_info_map_entry.second.tinfo_.descriptor    = channel_descriptor_entry_it->second.second.second;
               topic_info_map_entry.second.description_quality_ = channel_descriptor_entry_it->second.first;
             }
 
-            if (!topic_info_map_entry.second.type_.empty())
+            if (!topic_info_map_entry.second.GetLegacyType().empty())
             {
-              auto type_descriptor_entry_it = type_descriptor_map.find(topic_info_map_entry.second.type_);
+              auto type_descriptor_entry_it = type_descriptor_map.find(topic_info_map_entry.second.GetLegacyType());
               if ((type_descriptor_entry_it != type_descriptor_map.end())
                 && (type_descriptor_entry_it->second.first >= topic_info_map_entry.second.description_quality_)) 
               {
-                topic_info_map_entry.second.description_         = type_descriptor_entry_it->second.second;
+                topic_info_map_entry.second.tinfo_.descriptor    = type_descriptor_entry_it->second.second;
                 topic_info_map_entry.second.description_quality_ = type_descriptor_entry_it->second.first;
               }
             }

diff --git a/contrib/ecalhdf5/include/ecalhdf5/eh5_meas.h b/contrib/ecalhdf5/include/ecalhdf5/eh5_meas.h
@@ -187,6 +187,7 @@ namespace eCAL
        *
        * @return              channel description
       **/
+      [[deprecated("Please use GetChannelDataTypeInformation instead")]]
       std::string GetChannelDescription(const std::string& channel_name) const;
 
       /**
@@ -195,6 +196,7 @@ namespace eCAL
        * @param channel_name    channel name
        * @param description     description of the channel
       **/
+      [[deprecated("Please use SetChannelDataTypeInformation instead")]]
       void SetChannelDescription(const std::string& channel_name, const std::string& description);
 
       /**
@@ -204,6 +206,7 @@ namespace eCAL
        *
        * @return              channel type
       **/
+      [[deprecated("Please use GetChannelDataTypeInformation instead")]]
       std::string GetChannelType(const std::string& channel_name) const;
 
       /**
@@ -212,8 +215,28 @@ namespace eCAL
        * @param channel_name  channel name
        * @param type          type of the channel
       **/
+      [[deprecated("Please use SetChannelDataTypeInformation instead")]]
       void SetChannelType(const std::string& channel_name, const std::string& type);
 
+      /**
+       * @brief Get data type information of the given channel
+       *
+       * @param channel_name  channel name
+       *
+       * @return              channel type
+      **/
+      DataTypeInformation GetChannelDataTypeInformation(const std::string& channel_name) const;
+
+      /**
+       * @brief Set data type information of the given channel
+       *
+       * @param channel_name  channel name
+       * @param info          datatype info of the channel
+       *
+       * @return              channel type
+      **/
+      void SetChannelDataTypeInformation(const std::string& channel_name, const DataTypeInformation& info);
+
       /**
        * @brief Gets minimum timestamp for specified channel
        *

diff --git a/contrib/ecalhdf5/include/ecalhdf5/eh5_types.h b/contrib/ecalhdf5/include/ecalhdf5/eh5_types.h
@@ -49,6 +49,8 @@ namespace eCAL
     using eAccessType = eCAL::experimental::measurement::base::AccessType;
     using eCAL::experimental::measurement::base::RDONLY;
     using eCAL::experimental::measurement::base::CREATE;
+
+    using eCAL::experimental::measurement::base::DataTypeInformation;
     //!< @endcond
   }  // namespace eh5
 }  // namespace eCAL
diff --git a/contrib/ecalhdf5/src/eh5_meas.cpp b/contrib/ecalhdf5/src/eh5_meas.cpp
@@ -233,41 +233,54 @@ bool eCAL::eh5::HDF5Meas::HasChannel(const std::string& channel_name) const
   return ret_val;
 }
 
+// deprecated
 std::string eCAL::eh5::HDF5Meas::GetChannelDescription(const std::string& channel_name) const
 {
-  std::string ret_val;
-  if (hdf_meas_impl_)
-  {
-    ret_val = hdf_meas_impl_->GetChannelDescription(GetEscapedTopicname(channel_name));
-  }
-
-  return ret_val;
+  auto datatype_info = GetChannelDataTypeInformation(channel_name);
+  return datatype_info.descriptor;
 }
 
+// deprecated
 void eCAL::eh5::HDF5Meas::SetChannelDescription(const std::string& channel_name, const std::string& description)
 {
-  if (hdf_meas_impl_)
-  {
-    hdf_meas_impl_->SetChannelDescription(GetEscapedTopicname(channel_name), description);
-  }
+  auto current_info = GetChannelDataTypeInformation(channel_name);
+  current_info.descriptor = description;
+  SetChannelDataTypeInformation(channel_name, current_info);
 }
 
+// deprecated
 std::string eCAL::eh5::HDF5Meas::GetChannelType(const std::string& channel_name) const
 {
   std::string ret_val;
+  auto datatype_info = GetChannelDataTypeInformation(channel_name);
+  std::tie(ret_val, std::ignore) = FromInfo(datatype_info);
+  return ret_val;
+}
+
+// deprecated
+void eCAL::eh5::HDF5Meas::SetChannelType(const std::string& channel_name, const std::string& type)
+{
+  auto current_info = GetChannelDataTypeInformation(channel_name);
+  auto new_info = CreateInfo(type, current_info.descriptor);
+  SetChannelDataTypeInformation(channel_name, new_info);
+}
+
+eCAL::eh5::DataTypeInformation eCAL::eh5::HDF5Meas::GetChannelDataTypeInformation(const std::string& channel_name) const
+{
+  eCAL::eh5::DataTypeInformation ret_val;
   if (hdf_meas_impl_)
   {
-    ret_val = hdf_meas_impl_->GetChannelType(GetEscapedTopicname(channel_name));
+    ret_val = hdf_meas_impl_->GetChannelDataTypeInformation(GetEscapedTopicname(channel_name));
   }
 
   return ret_val;
 }
 
-void eCAL::eh5::HDF5Meas::SetChannelType(const std::string& channel_name, const std::string& type)
+void eCAL::eh5::HDF5Meas::SetChannelDataTypeInformation(const std::string& channel_name, const eCAL::eh5::DataTypeInformation& info)
 {
   if (hdf_meas_impl_)
   {
-    hdf_meas_impl_->SetChannelType(GetEscapedTopicname(channel_name), type);
+    hdf_meas_impl_->SetChannelDataTypeInformation(GetEscapedTopicname(channel_name), info);
   }
 }