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Add support for "all" and "exclude" in RecordOptions YAML decoder (#1664
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- Rationale:
Add support for old options "all" and "exclude" in the YAML parser for
backward compatibility with old versions of the config files for the
"ros2 bag convert" CLI.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
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MichaelOrlov authored May 21, 2024
1 parent 8523995 commit e01e1ef
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Showing 2 changed files with 27 additions and 0 deletions.
9 changes: 9 additions & 0 deletions rosbag2_transport/src/rosbag2_transport/record_options.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,13 @@ bool convert<rosbag2_transport::RecordOptions>::decode(
{
optional_assign<bool>(node, "all_topics", record_options.all_topics);
optional_assign<bool>(node, "all_services", record_options.all_services);
bool record_options_all{false}; // Parse `all` for backward compatability and convenient usage
optional_assign<bool>(node, "all", record_options_all);
if (record_options_all) {
record_options.all_topics = true;
record_options.all_services = true;
}

optional_assign<bool>(node, "is_discovery_disabled", record_options.is_discovery_disabled);
optional_assign<std::vector<std::string>>(node, "topics", record_options.topics);
optional_assign<std::vector<std::string>>(node, "topic_types", record_options.topic_types);
Expand All @@ -71,6 +78,8 @@ bool convert<rosbag2_transport::RecordOptions>::decode(
node, "topic_polling_interval", record_options.topic_polling_interval);

optional_assign<std::string>(node, "regex", record_options.regex);
// Map exclude to the "exclude_regex" for backward compatability.
optional_assign<std::string>(node, "exclude", record_options.exclude_regex);
optional_assign<std::string>(node, "exclude_regex", record_options.exclude_regex);
optional_assign<std::vector<std::string>>(node, "exclude_topics", record_options.exclude_topics);
optional_assign<std::vector<std::string>>(
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18 changes: 18 additions & 0 deletions rosbag2_transport/test/rosbag2_transport/test_record_options.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -59,3 +59,21 @@ TEST(record_options, test_yaml_serialization)
CHECK(rmw_serialization_format);
#undef CHECK
}

TEST(record_options, test_yaml_decode_for_all_and_exclude)
{
std::string serialized_record_options =
" all: true\n"
" all_topics: false\n"
" topics: []\n"
" rmw_serialization_format: \"\" # defaults to using the format of the input topic\n"
" regex: \"[xyz]/topic\"\n"
" exclude: \"[x]/topic\"\n";

YAML::Node loaded_node = YAML::Load(serialized_record_options);
auto record_options = loaded_node.as<rosbag2_transport::RecordOptions>();
ASSERT_EQ(record_options.all_topics, true);
ASSERT_EQ(record_options.all_services, true);
ASSERT_EQ(record_options.regex, "[xyz]/topic");
ASSERT_EQ(record_options.exclude_regex, "[x]/topic");
}

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