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Don't warn for unknown types if topics are not selected #1466

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merged 3 commits into from
Sep 13, 2023
Merged

Don't warn for unknown types if topics are not selected #1466

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fa84bbe
Don't warn for unknown types if topics are not in the list
MichaelOrlov Sep 12, 2023
216d70e
Add unit tests to verify regression
MichaelOrlov Sep 12, 2023
c00d210
Move checks for single type and hidden topics to the bottom
MichaelOrlov Sep 13, 2023
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32 changes: 16 additions & 16 deletions rosbag2_transport/src/rosbag2_transport/topic_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,22 +117,6 @@ std::unordered_map<std::string, std::string> TopicFilter::filter_topics(
bool TopicFilter::take_topic(
const std::string & topic_name, const std::vector<std::string> & topic_types)
{
if (!has_single_type(topic_name, topic_types)) {
return false;
}

const std::string & topic_type = topic_types[0];
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if (!allow_unknown_types_ && !type_is_known(topic_name, topic_type)) {
return false;
}

if (!record_options_.include_hidden_topics && topic_is_hidden(topic_name)) {
RCUTILS_LOG_WARN_ONCE_NAMED(
ROSBAG2_TRANSPORT_PACKAGE_NAME,
"Hidden topics are not recorded. Enable them with --include-hidden-topics");
return false;
}

if (!record_options_.include_unpublished_topics && node_graph_ &&
topic_is_unpublished(topic_name, *node_graph_))
{
Expand Down Expand Up @@ -163,6 +147,22 @@ bool TopicFilter::take_topic(
return false;
}

if (!has_single_type(topic_name, topic_types)) {
return false;
}

if (!record_options_.include_hidden_topics && topic_is_hidden(topic_name)) {
RCUTILS_LOG_WARN_ONCE_NAMED(
ROSBAG2_TRANSPORT_PACKAGE_NAME,
"Hidden topics are not recorded. Enable them with --include-hidden-topics");
return false;
}

const std::string & topic_type = topic_types[0];
if (!allow_unknown_types_ && !type_is_known(topic_name, topic_type)) {
return false;
}

return true;
}

Expand Down
38 changes: 38 additions & 0 deletions rosbag2_transport/test/rosbag2_transport/test_topic_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,3 +203,41 @@ TEST_F(RegexFixture, regex_all_and_filter)
auto filtered_topics = filter.filter_topics(topics_and_types_);
EXPECT_THAT(filtered_topics, SizeIs(6));
}

TEST_F(RegexFixture, do_not_print_warning_about_unknown_types_if_topic_is_not_selected) {
{ // Check for topics explicitly selected via "topics" list
rosbag2_transport::RecordOptions record_options;
// Select only one topic with name "/planning" via topic list
record_options.topics = {"/planning"};
record_options.all = false;
rosbag2_transport::TopicFilter filter{record_options, nullptr, false};
testing::internal::CaptureStderr();
auto filtered_topics = filter.filter_topics(topics_and_types_);
std::string test_output = testing::internal::GetCapturedStderr();
ASSERT_EQ(0u, filtered_topics.size());
EXPECT_TRUE(
test_output.find(
"Topic '/invalid_topic' has unknown type 'invalid_topic_type'") == std::string::npos);
EXPECT_TRUE(
test_output.find(
"Topic '/planning' has unknown type 'planning_topic_type'") != std::string::npos);
}

{ // Check for topics selected via regex
rosbag2_transport::RecordOptions record_options;
// Select only one topic with name "/planning" via regex
record_options.regex = "^/planning";
record_options.all = false;
rosbag2_transport::TopicFilter filter{record_options, nullptr, false};
testing::internal::CaptureStderr();
auto filtered_topics = filter.filter_topics(topics_and_types_);
std::string test_output = testing::internal::GetCapturedStderr();
ASSERT_EQ(0u, filtered_topics.size());
EXPECT_TRUE(
test_output.find(
"Topic '/invalid_topic' has unknown type 'invalid_topic_type'") == std::string::npos);
EXPECT_TRUE(
test_output.find(
"Topic '/planning' has unknown type 'planning_topic_type'") != std::string::npos);
}
}