Renaming struct members for consistency (ros2#64)

* ros2GH-118 Rename rosbag2_storage::TopicMetadata to TopicInformation and rosbag2_storage::TopicwithType to TopicMetadata

- The former TopicWithTye struct will be enlarged to contain also the rmw serialization format relative to the topic. This is why the name 'TopicMetadata' is now better suited for it.

* ros2GH-17 Rename timestamp to time_stamp for consistency in types

* Fix renaming of TopicWithType to TopicMetadata

* formatting

* pass by const ref

rosbag2/include/rosbag2/converter.hpp

@@ -43,7 +43,7 @@ class ROSBAG2_PUBLIC Converter
   Converter(
     const std::string & input_format,
     const std::string & output_format,
-    const std::vector<TopicWithType> & topics_and_types,
+    const std::vector<TopicMetadata> & topics_and_types,
     std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory =
     std::make_shared<SerializationFormatConverterFactory>());
 

rosbag2/include/rosbag2/sequential_reader.hpp

@@ -94,7 +94,7 @@ class ROSBAG2_PUBLIC SequentialReader
    * \return vector of topics with topic name and type as std::string
    * \throws runtime_error if the Reader is not open.
    */
-  virtual std::vector<TopicWithType> get_all_topics_and_types();
+  virtual std::vector<TopicMetadata> get_all_topics_and_types();
 
 private:
   std::unique_ptr<rosbag2_storage::StorageFactoryInterface> storage_factory_;

rosbag2/include/rosbag2/types.hpp

@@ -23,8 +23,8 @@ namespace rosbag2
 {
 using BagMetadata = rosbag2_storage::BagMetadata;
 using SerializedBagMessage = rosbag2_storage::SerializedBagMessage;
+using TopicInformation = rosbag2_storage::TopicInformation;
 using TopicMetadata = rosbag2_storage::TopicMetadata;
-using TopicWithType = rosbag2_storage::TopicWithType;
 }  // namespace rosbag2
 
 #endif  // ROSBAG2__TYPES_HPP_

rosbag2/include/rosbag2/types/ros2_message.hpp

@@ -27,7 +27,7 @@ typedef struct rosbag2_ros2_message_t
 {
   void * message;
   const char * topic_name;
-  rcutils_time_point_value_t timestamp;
+  rcutils_time_point_value_t time_stamp;
   rcutils_allocator_t allocator;
 } rosbag2_ros2_message_t;
 

rosbag2/include/rosbag2/writer.hpp

@@ -64,7 +64,7 @@ class ROSBAG2_PUBLIC Writer
    * \param topic_with_type name and type identifier of topic to be created
    * \throws runtime_error if the Writer is not open.
    */
-  virtual void create_topic(const TopicWithType & topic_with_type);
+  virtual void create_topic(const TopicMetadata & topic_with_type);
 
   /**
    * Write a message to a bagfile. The topic needs to have been created before writing is possible.

rosbag2/src/rosbag2/converter.cpp

@@ -31,7 +31,7 @@ namespace rosbag2
 Converter::Converter(
   const std::string & input_format,
   const std::string & output_format,
-  const std::vector<TopicWithType> & topics_and_types,
+  const std::vector<TopicMetadata> & topics_and_types,
   std::shared_ptr<rosbag2::SerializationFormatConverterFactoryInterface> converter_factory)
 : converter_factory_(converter_factory)
 {

rosbag2/src/rosbag2/sequential_reader.cpp

@@ -68,7 +68,7 @@ std::shared_ptr<SerializedBagMessage> SequentialReader::read_next()
   throw std::runtime_error("Bag is not open. Call open() before reading.");
 }
 
-std::vector<TopicWithType> SequentialReader::get_all_topics_and_types()
+std::vector<TopicMetadata> SequentialReader::get_all_topics_and_types()
 {
   if (storage_) {
     return storage_->get_all_topics_and_types();

rosbag2/src/rosbag2/writer.cpp

@@ -48,7 +48,7 @@ void Writer::open(const StorageOptions & options)
   uri_ = options.uri;
 }
 
-void Writer::create_topic(const TopicWithType & topic_with_type)
+void Writer::create_topic(const TopicMetadata & topic_with_type)
 {
   if (!storage_) {
     throw std::runtime_error("Bag is not open. Call open() before writing.");

rosbag2/test/rosbag2/mock_storage.hpp

@@ -30,11 +30,11 @@ class MockStorage : public rosbag2_storage::storage_interfaces::ReadWriteInterfa
 {
 public:
   MOCK_METHOD2(open, void(const std::string &, rosbag2_storage::storage_interfaces::IOFlag));
-  MOCK_METHOD1(create_topic, void(const rosbag2_storage::TopicWithType &));
+  MOCK_METHOD1(create_topic, void(const rosbag2_storage::TopicMetadata &));
   MOCK_METHOD0(has_next, bool());
   MOCK_METHOD0(read_next, std::shared_ptr<rosbag2_storage::SerializedBagMessage>());
   MOCK_METHOD1(write, void(std::shared_ptr<const rosbag2_storage::SerializedBagMessage>));
-  MOCK_METHOD0(get_all_topics_and_types, std::vector<rosbag2_storage::TopicWithType>());
+  MOCK_METHOD0(get_all_topics_and_types, std::vector<rosbag2_storage::TopicMetadata>());
   MOCK_METHOD0(get_metadata, rosbag2_storage::BagMetadata());
 };
 

rosbag2/test/rosbag2/test_info.cpp

@@ -76,14 +76,14 @@ TEST_F(TemporaryDirectoryFixture, read_metadata_makes_appropriate_call_to_metada
   EXPECT_THAT(read_metadata.topics_with_message_count,
     SizeIs(2u));
   auto actual_first_topic = read_metadata.topics_with_message_count[0];
-  rosbag2_storage::TopicMetadata expected_first_topic = {{"topic1", "type1"}, 100};
+  rosbag2_storage::TopicInformation expected_first_topic = {{"topic1", "type1"}, 100};
   EXPECT_THAT(actual_first_topic.topic_with_type.name,
     Eq(expected_first_topic.topic_with_type.name));
   EXPECT_THAT(actual_first_topic.topic_with_type.type,
     Eq(expected_first_topic.topic_with_type.type));
   EXPECT_THAT(actual_first_topic.message_count, Eq(expected_first_topic.message_count));
   auto actual_second_topic = read_metadata.topics_with_message_count[1];
-  rosbag2_storage::TopicMetadata expected_second_topic = {{"topic2", "type2"}, 200};
+  rosbag2_storage::TopicInformation expected_second_topic = {{"topic2", "type2"}, 200};
   EXPECT_THAT(actual_second_topic.topic_with_type.name,
     Eq(expected_second_topic.topic_with_type.name));
   EXPECT_THAT(actual_second_topic.topic_with_type.type,

rosbag2/test/rosbag2/test_sequential_reader.cpp

@@ -39,10 +39,10 @@ class SequentialReaderTest : public Test
     storage_ = std::make_shared<NiceMock<MockStorage>>();
     converter_factory_ = std::make_shared<StrictMock<MockConverterFactory>>();
 
-    rosbag2_storage::TopicWithType topic_with_type;
+    rosbag2_storage::TopicMetadata topic_with_type;
     topic_with_type.name = "topic";
     topic_with_type.type = "test_msgs/Primitives";
-    auto topics_and_types = std::vector<rosbag2_storage::TopicWithType>{topic_with_type};
+    auto topics_and_types = std::vector<rosbag2_storage::TopicMetadata>{topic_with_type};
     EXPECT_CALL(*storage_, get_all_topics_and_types())
     .Times(AtMost(1)).WillRepeatedly(Return(topics_and_types));
 

rosbag2_converter_default_plugins/src/rosbag2_converter_default_plugins/cdr/cdr_converter.cpp

@@ -99,7 +99,7 @@ void CdrConverter::deserialize(
   std::shared_ptr<rosbag2_ros2_message_t> ros_message)
 {
   ros_message->topic_name = serialized_message->topic_name.c_str();
-  ros_message->timestamp = serialized_message->time_stamp;
+  ros_message->time_stamp = serialized_message->time_stamp;
 
   printf("this should be a call to FASTRTPS\n");
   auto ret =
@@ -115,7 +115,7 @@ void CdrConverter::serialize(
   std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message)
 {
   serialized_message->topic_name = std::string(ros_message->topic_name);
-  serialized_message->time_stamp = ros_message->timestamp;
+  serialized_message->time_stamp = ros_message->time_stamp;
 
   auto ret = serialize_fcn_(
     ros_message->message, type_support, serialized_message->serialized_data.get());

rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp

@@ -44,7 +44,7 @@ class CdrConverterTestFixture : public Test
     const std::string & topic_name = "")
   {
     auto ros_message = std::make_shared<rosbag2_ros2_message_t>();
-    ros_message->timestamp = 0;
+    ros_message->time_stamp = 0;
     ros_message->message = nullptr;
     ros_message->allocator = allocator_;
 
@@ -81,13 +81,13 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_pr
 
   auto cast_message = static_cast<test_msgs::msg::Primitives *>(ros_message->message);
   EXPECT_THAT(*cast_message, Eq(*message));
-  EXPECT_THAT(ros_message->timestamp, Eq(serialized_message->time_stamp));
+  EXPECT_THAT(ros_message->time_stamp, Eq(serialized_message->time_stamp));
   EXPECT_THAT(ros_message->topic_name, StrEq(serialized_message->topic_name));
 }
 
 TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_primitives) {
   auto ros_message = make_shared_ros_message(topic_name_);
-  ros_message->timestamp = 1;
+  ros_message->time_stamp = 1;
   auto message = get_messages_primitives()[0];
   message->string_value = "test_serialize";
   message->float64_value = 102.34;
@@ -104,7 +104,7 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_prim
     serialized_message->serialized_data);
   EXPECT_THAT(*deserialized_msg, Eq(*message));
   EXPECT_THAT(serialized_message->topic_name, StrEq(topic_name_));
-  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->timestamp));
+  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->time_stamp));
 }
 
 TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_static_array) {
@@ -128,13 +128,13 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_st
 
   auto cast_message = static_cast<test_msgs::msg::StaticArrayPrimitives *>(ros_message->message);
   EXPECT_THAT(*cast_message, Eq(*message));
-  EXPECT_THAT(ros_message->timestamp, Eq(serialized_message->time_stamp));
+  EXPECT_THAT(ros_message->time_stamp, Eq(serialized_message->time_stamp));
   EXPECT_THAT(ros_message->topic_name, StrEq(serialized_message->topic_name));
 }
 
 TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_static_array) {
   auto ros_message = make_shared_ros_message(topic_name_);
-  ros_message->timestamp = 1;
+  ros_message->time_stamp = 1;
   auto message = get_messages_static_array_primitives()[0];
   message->string_values = {{"test_deserialize", "another string", "the third one"}};
   message->float64_values = {{102.34, 1.9, 1236.011}};
@@ -152,7 +152,7 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_stat
     deserialize_message<test_msgs::msg::StaticArrayPrimitives>(serialized_message->serialized_data);
   EXPECT_THAT(*deserialized_msg, Eq(*message));
   EXPECT_THAT(serialized_message->topic_name, StrEq(topic_name_));
-  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->timestamp));
+  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->time_stamp));
 }
 
 TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_dynamic_array_nest) {
@@ -181,13 +181,13 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_dy
 
   auto cast_message = static_cast<test_msgs::msg::DynamicArrayNested *>(ros_message->message);
   EXPECT_THAT(*cast_message, Eq(*message));
-  EXPECT_THAT(ros_message->timestamp, Eq(serialized_message->time_stamp));
+  EXPECT_THAT(ros_message->time_stamp, Eq(serialized_message->time_stamp));
   EXPECT_THAT(ros_message->topic_name, StrEq(serialized_message->topic_name));
 }
 
 TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_dynamic_array_nest) {
   auto ros_message = make_shared_ros_message(topic_name_);
-  ros_message->timestamp = 1;
+  ros_message->time_stamp = 1;
   auto message = get_messages_dynamic_array_nested()[0];
   test_msgs::msg::Primitives first_primitive_message;
   first_primitive_message.string_value = "I am the first";
@@ -210,5 +210,5 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_dyna
     deserialize_message<test_msgs::msg::DynamicArrayNested>(serialized_message->serialized_data);
   EXPECT_THAT(*deserialized_msg, Eq(*message));
   EXPECT_THAT(serialized_message->topic_name, StrEq(topic_name_));
-  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->timestamp));
+  EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->time_stamp));
 }

rosbag2_storage/include/rosbag2_storage/bag_metadata.hpp

@@ -26,9 +26,9 @@
 namespace rosbag2_storage
 {
 
-struct TopicMetadata
+struct TopicInformation
 {
-  TopicWithType topic_with_type;
+  TopicMetadata topic_with_type;
   size_t message_count;
 };
 
@@ -42,7 +42,7 @@ struct BagMetadata
   std::chrono::nanoseconds duration;
   std::chrono::time_point<std::chrono::high_resolution_clock> starting_time;
   size_t message_count;
-  std::vector<TopicMetadata> topics_with_message_count;
+  std::vector<TopicInformation> topics_with_message_count;
 };
 
 }  // namespace rosbag2_storage

rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_read_interface.hpp

@@ -37,7 +37,7 @@ class ROSBAG2_STORAGE_PUBLIC BaseReadInterface
 
   virtual std::shared_ptr<SerializedBagMessage> read_next() = 0;
 
-  virtual std::vector<TopicWithType> get_all_topics_and_types() = 0;
+  virtual std::vector<TopicMetadata> get_all_topics_and_types() = 0;
 };
 
 }  // namespace storage_interfaces

rosbag2_storage/include/rosbag2_storage/storage_interfaces/base_write_interface.hpp

@@ -35,7 +35,7 @@ class ROSBAG2_STORAGE_PUBLIC BaseWriteInterface
 
   virtual void write(std::shared_ptr<const SerializedBagMessage> msg) = 0;
 
-  virtual void create_topic(const TopicWithType & topic) = 0;
+  virtual void create_topic(const TopicMetadata & topic) = 0;
 };
 
 }  // namespace storage_interfaces

rosbag2_storage/include/rosbag2_storage/topic_with_type.hpp

@@ -20,7 +20,7 @@
 namespace rosbag2_storage
 {
 
-struct TopicWithType
+struct TopicMetadata
 {
   std::string name;
   std::string type;

rosbag2_storage/src/rosbag2_storage/metadata_io.cpp

@@ -36,17 +36,17 @@
 namespace YAML
 {
 template<>
-struct convert<rosbag2_storage::TopicWithType>
+struct convert<rosbag2_storage::TopicMetadata>
 {
-  static Node encode(const rosbag2_storage::TopicWithType & topic)
+  static Node encode(const rosbag2_storage::TopicMetadata & topic)
   {
     Node node;
     node["name"] = topic.name;
     node["type"] = topic.type;
     return node;
   }
 
-  static bool decode(const Node & node, rosbag2_storage::TopicWithType & topic)
+  static bool decode(const Node & node, rosbag2_storage::TopicMetadata & topic)
   {
     topic.name = node["name"].as<std::string>();
     topic.type = node["type"].as<std::string>();
@@ -55,19 +55,19 @@ struct convert<rosbag2_storage::TopicWithType>
 };
 
 template<>
-struct convert<rosbag2_storage::TopicMetadata>
+struct convert<rosbag2_storage::TopicInformation>
 {
-  static Node encode(const rosbag2_storage::TopicMetadata & metadata)
+  static Node encode(const rosbag2_storage::TopicInformation & metadata)
   {
     Node node;
     node["topic_and_type"] = metadata.topic_with_type;
     node["message_count"] = metadata.message_count;
     return node;
   }
 
-  static bool decode(const Node & node, rosbag2_storage::TopicMetadata & metadata)
+  static bool decode(const Node & node, rosbag2_storage::TopicInformation & metadata)
   {
-    metadata.topic_with_type = node["topic_and_type"].as<rosbag2_storage::TopicWithType>();
+    metadata.topic_with_type = node["topic_and_type"].as<rosbag2_storage::TopicMetadata>();
     metadata.message_count = node["message_count"].as<size_t>();
     return true;
   }
@@ -137,7 +137,7 @@ struct convert<rosbag2_storage::BagMetadata>
       .as<std::chrono::time_point<std::chrono::high_resolution_clock>>();
     metadata.message_count = node["message_count"].as<size_t>();
     metadata.topics_with_message_count =
-      node["topics_with_message_count"].as<std::vector<rosbag2_storage::TopicMetadata>>();
+      node["topics_with_message_count"].as<std::vector<rosbag2_storage::TopicInformation>>();
     return true;
   }
 };

rosbag2_storage/test/rosbag2_storage/test_plugin.cpp

@@ -52,7 +52,7 @@ std::shared_ptr<rosbag2_storage::SerializedBagMessage> TestPlugin::read_next()
   return std::shared_ptr<rosbag2_storage::SerializedBagMessage>();
 }
 
-void TestPlugin::create_topic(const rosbag2_storage::TopicWithType & topic)
+void TestPlugin::create_topic(const rosbag2_storage::TopicMetadata & topic)
 {
   std::cout << "Created topic with name =" << topic.name << " and type =" << topic.type << ".\n";
 }
@@ -63,10 +63,10 @@ void TestPlugin::write(const std::shared_ptr<const rosbag2_storage::SerializedBa
   std::cout << "\nwriting\n";
 }
 
-std::vector<rosbag2_storage::TopicWithType> TestPlugin::get_all_topics_and_types()
+std::vector<rosbag2_storage::TopicMetadata> TestPlugin::get_all_topics_and_types()
 {
   std::cout << "\nreading topics and types\n";
-  return std::vector<rosbag2_storage::TopicWithType>();
+  return std::vector<rosbag2_storage::TopicMetadata>();
 }
 
 rosbag2_storage::BagMetadata TestPlugin::get_metadata()

rosbag2_storage/test/rosbag2_storage/test_plugin.hpp

@@ -32,15 +32,15 @@ class TestPlugin : public rosbag2_storage::storage_interfaces::ReadWriteInterfac
 
   void open(const std::string & uri, rosbag2_storage::storage_interfaces::IOFlag flag) override;
 
-  void create_topic(const rosbag2_storage::TopicWithType & topic) override;
+  void create_topic(const rosbag2_storage::TopicMetadata & topic) override;
 
   bool has_next() override;
 
   std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;
 
   void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;
 
-  std::vector<rosbag2_storage::TopicWithType> get_all_topics_and_types() override;
+  std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() override;
 
   rosbag2_storage::BagMetadata get_metadata() override;
 };

rosbag2_storage/test/rosbag2_storage/test_read_only_plugin.cpp

@@ -49,10 +49,10 @@ std::shared_ptr<rosbag2_storage::SerializedBagMessage> TestReadOnlyPlugin::read_
   return std::shared_ptr<rosbag2_storage::SerializedBagMessage>();
 }
 
-std::vector<rosbag2_storage::TopicWithType> TestReadOnlyPlugin::get_all_topics_and_types()
+std::vector<rosbag2_storage::TopicMetadata> TestReadOnlyPlugin::get_all_topics_and_types()
 {
   std::cout << "\nreading topics and types\n";
-  return std::vector<rosbag2_storage::TopicWithType>();
+  return std::vector<rosbag2_storage::TopicMetadata>();
 }
 
 rosbag2_storage::BagMetadata TestReadOnlyPlugin::get_metadata()

rosbag2_storage/test/rosbag2_storage/test_read_only_plugin.hpp

@@ -33,7 +33,7 @@ class TestReadOnlyPlugin : public rosbag2_storage::storage_interfaces::ReadOnlyI
 
   std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;
 
-  std::vector<rosbag2_storage::TopicWithType> get_all_topics_and_types() override;
+  std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() override;
 
   rosbag2_storage::BagMetadata get_metadata() override;
 };