Abstract asynchronous message recorder backed by a MessageLoop event queue. 更多...

#include <bag_writer.h>

类 vlink::BagWriter 继承关系图:

vlink::BagWriter 的协作图:

类
struct	Config
	Configuration for recording behaviour, splitting, compression, and limits. 更多...

Public 类型
enum	CompressType : uint8_t { kCompressNone = 0 , kCompressAuto = 1 , kCompressZstd = 2 , kCompressLz4 = 3 , kCompressLzav = 4 }
	Compression algorithm applied to each recorded payload. 更多...
using	SplitCallback = std::function<void(int split_index, const std::string& split_filename)>
	Callback fired when a split occurs.
using	SchemaCallback = std::function<SchemaData(const std::string& ser_type, SchemaType schema_type)>
	Callback that resolves a serialisation type string to a `SchemaData`.
using	SystemClock = std::chrono::time_point<std::chrono::system_clock, std::chrono::milliseconds>
	System clock type used for file-name timestamp generation.
Public 类型继承自 vlink::MessageLoop
enum	Type : uint8_t { kNormalType = 0 , kLockfreeType = 1 , kPriorityType = 2 }
	Queue implementation type. 更多...
enum	Strategy : uint8_t { kOptimizationStrategy = 0 , kPopStrategy = 1 , kBlockStrategy = 2 }
	Idle strategy controlling CPU and latency trade-offs. 更多...
enum	Priority : uint16_t { kNoPriority = 0 , kLowestPriority = 1 , kTimerPriority = 50 , kNormalPriority = 100 , kHighestPriority = std::numeric_limits<uint16_t>::max() }
	Pre-defined task priority levels for `kPriorityType` loops. 更多...
using	Callback = std::function<void()>
	Callback type for tasks and event handlers.

Public 成员函数
	BagWriter (const std::string &path, const Config &config={})
	Constructs a `BagWriter` for `path` with the given `config`.
virtual	~BagWriter ()
	Destructor – stops the recording loop and flushes pending writes.
virtual void	register_split_callback (SplitCallback &&callback, bool before)=0
	Registers a callback invoked when a file split occurs.
virtual void	register_schema_callback (SchemaCallback &&callback)=0
	Registers a callback that resolves serialisation type strings to `SchemaData`.
virtual bool	push_schema (const SchemaData &schema_data, bool immediate=false)=0
	Embeds a `SchemaData` into the bag for later offline introspection.
virtual int64_t	push (const std::string &url, const std::string &ser_type, SchemaType schema_type, ActionType action_type, const Bytes &data, int64_t *microseconds_timestamp=nullptr, bool immediate=false)=0
	Records one message to the bag.
virtual bool	is_dumping () const =0
	Returns `true` if the writer is actively recording to disk.
virtual bool	is_split_mode () const =0
	Returns `true` if the writer is in split-file mode.
virtual int	get_split_index () const =0
	Returns the zero-based index of the current split file.
virtual void	set_url_loss (const std::string &url, double loss)=0
	Sets the expected message loss ratio for a given URL.
Public 成员函数继承自 vlink::MessageLoop
	MessageLoop ()
	Constructs a `MessageLoop` with `kNormalType` queue.
	MessageLoop (Type type)
	Constructs a `MessageLoop` with the specified queue type.
virtual	~MessageLoop ()
	Destructor. Calls `quit(true)` and waits for the background thread (if any).
void	set_name (const std::string &name)
	Sets a human-readable name for this loop (visible in profiling tools).
const std::string &	get_name () const
	Returns the name set via `set_name()`.
Type	get_type () const
	Returns the queue type this loop was constructed with.
Strategy	get_strategy () const
	Returns the current idle dispatch strategy.
void	set_strategy (Strategy strategy)
	Changes the idle dispatch strategy.
void	register_begin_handler (Callback &&callback)
	Registers a callback invoked once when the loop thread starts.
void	register_end_handler (Callback &&callback)
	Registers a callback invoked once when the loop thread exits.
void	register_idle_handler (Callback &&callback)
	Registers a callback invoked each time the task queue becomes empty.
bool	run ()
	Runs the message loop on the calling thread (blocking).
bool	async_run ()
	Starts the message loop on a new background thread (non-blocking).
bool	spin ()
	Runs the loop continuously in a spin mode (blocking; no background thread).
bool	spin_once (bool block=true)
	Processes one batch of pending tasks and timers.
bool	quit (bool force=false)
	Requests the loop to exit cleanly.
bool	wait_for_idle (int ms=Timer::kInfinite, bool check=true)
	Waits until the task queue is drained.
bool	wait_for_quit (int ms=Timer::kInfinite, bool check=true)
	Waits until the loop has fully exited (after `quit()` was called).
bool	post_task (Callback &&callback)
	Posts a task to the queue for execution on the loop thread.
bool	post_task_with_priority (Callback &&callback, uint16_t priority)
	Posts a task with an explicit priority (requires `kPriorityType` loop).
template<typename CallbackT, typename = std::enable_if_t<!std::is_convertible_v<CallbackT, Schedule::RetCallback>>>
Schedule::Status	exec_task (const Schedule::Config &config, CallbackT &&callback)
	Posts a scheduled task and returns a `Schedule::Status` for chaining callbacks.
template<typename CallbackT, typename = std::enable_if_t<std::is_convertible_v<CallbackT, Schedule::RetCallback>>>
Schedule::RetStatus	exec_task (const Schedule::Config &config, CallbackT &&callback)
	Posts a scheduled task and returns a `Schedule::RetStatus` for chaining callbacks.
bool	wakeup ()
	Wakes the loop thread if it is sleeping (e.g., in `kBlockStrategy`).
void	reset_lockfree_capacity ()
	Resets the lock-free queue to its initial capacity.
bool	is_running () const
	Returns `true` if the loop is currently running (started and not quit).
bool	is_ready_to_quit () const
	Returns `true` if `quit()` has been called and the loop is winding down.
bool	is_busy () const
	Returns `true` if the loop is currently executing a task.
size_t	get_task_count () const
	Returns the number of tasks currently in the queue.
virtual size_t	get_max_task_count () const
	Returns the maximum queue depth.
virtual size_t	get_max_timer_count () const
	Returns the maximum number of timers that can be attached to this loop.
virtual uint32_t	get_max_elapsed_time () const
	Returns the maximum allowed task execution time in milliseconds.
virtual bool	is_in_same_thread () const
	Returns `true` if the calling thread is the same as the loop thread.
template<class FunctionT, class... ArgsT, typename ResultT = std::invoke_result_t<FunctionT, ArgsT...>>
std::future< ResultT >	invoke_task (FunctionT &&function, ArgsT &&... args)
	Dispatches a callable to the loop thread and returns a `std::future` for the result.
template<class FunctionT, class... ArgsT, typename ResultT = std::invoke_result_t<FunctionT, ArgsT...>>
std::future< ResultT >	invoke_task_with_priority (FunctionT &&function, uint16_t priority, ArgsT &&... args)
	Dispatches a callable with an explicit priority and returns a `std::future`.

静态 Public 成员函数
static std::shared_ptr< BagWriter >	create (const std::string &path, const Config &config={})
	Creates a concrete `BagWriter` instance for `path`.
static std::shared_ptr< BagWriter >	filter_get (const std::string &path)
	Returns an existing writer for `path`, or creates and starts a new one.
static BagWriter *	global_get ()
	Returns the process-global `BagWriter` activated by the `VLINK_BAG_PATH` environment variable.

Protected 成员函数
void	get_url_meta (const std::string &url, const std::string &ser, int &url_index, int &ser_index) const
void	get_url_meta (int url_index, int ser_index, std::string &url, std::string &ser) const
Protected 成员函数继承自 vlink::MessageLoop
virtual void	on_begin ()
	Called from the loop thread just before the first task is processed.
virtual void	on_end ()
	Called from the loop thread just after the last task has been processed.
virtual void	on_idle ()
	Called from the loop thread each time the queue becomes empty.
virtual void	on_task_changed (Callback &&callback, uint32_t start_time)
	Called before each task is executed.
virtual void	on_task_timeout (Callback &&callback, uint32_t elapsed_time)
	Called when a task's execution time exceeds `get_max_elapsed_time()`.

静态 Protected 成员函数
static const std::string &	get_default_tag_name ()
static const std::string &	get_default_app_name ()
static SchemaPluginInterface *	get_schema_interface ()
static int32_t	get_default_timezone_diff ()
static std::string_view	convert_action (ActionType type)
static std::string	get_format_date (SystemClock *current=nullptr, bool file_format=false)

详细描述

Abstract asynchronous message recorder backed by a MessageLoop event queue.

Must be constructed via create() (for managed lifetime) or directly (for custom ownership). After construction call async_run() to start the recording loop, then use push() to record messages.

成员类型定义说明

◆ SchemaCallback

using vlink::BagWriter::SchemaCallback = std::function<SchemaData(const std::string& ser_type, SchemaType schema_type)>

Callback that resolves a serialisation type string to a SchemaData.

When a new URL with an unknown ser_type appears, this callback is invoked to retrieve the corresponding schema for embedding in the bag. The extra schema_type hint lets callers distinguish schema families that share the same concrete type name.

◆ SplitCallback

using vlink::BagWriter::SplitCallback = std::function<void(int split_index, const std::string& split_filename)>

Callback fired when a split occurs.

Called with the zero-based split index and the path of the newly created file. The before parameter of register_split_callback() controls whether the callback fires before or after the new file is opened.

◆ SystemClock

using vlink::BagWriter::SystemClock = std::chrono::time_point<std::chrono::system_clock, std::chrono::milliseconds>

System clock type used for file-name timestamp generation.

成员枚举类型说明

◆ CompressType

enum vlink::BagWriter::CompressType : uint8_t

Compression algorithm applied to each recorded payload.

Kind	Algorithm	Notes
kCompressNone	No compress	Raw bytes stored as-is
kCompressAuto	Auto select	Picks best algorithm per payload
kCompressZstd	Zstandard	Good ratio, moderate speed
kCompressLz4	LZ4	Fast compression/decompression
kCompressLzav	LZAV	Fast, lightweight, built-in

枚举值
kCompressNone	No compression.
kCompressAuto	Automatic algorithm selection.
kCompressZstd	Zstandard compression.
kCompressLz4	LZ4 compression.
kCompressLzav	LZAV built-in compression.

构造及析构函数说明

◆ BagWriter()

vlink::BagWriter::BagWriter	(	const std::string &	path,
		const Config &	config = {} )

explicit

Constructs a BagWriter for path with the given config.

Opens or creates the output file. Must call async_run() before writing.

参数

path	Output file path.
config	Recording configuration.

这是这个函数的调用关系图:

◆ ~BagWriter()

virtual vlink::BagWriter::~BagWriter ( )

virtual

Destructor – stops the recording loop and flushes pending writes.

成员函数说明

◆ convert_action()

std::string_view vlink::BagWriter::convert_action ( ActionType type )

staticprotected

◆ create()

std::shared_ptr< BagWriter > vlink::BagWriter::create	(	const std::string &	path,
		const Config &	config = {} )

staticnodiscard

Creates a concrete BagWriter instance for path.

Selects the implementation based on the file extension:

.vcap / .vcapx – McapWriter (MCAP format)
All other extensions – DatabaseWriter (SQLite) The returned writer has not yet started its event loop; call async_run().

参数

path	Output file path.
config	Recording configuration. Defaults to `Config{}`.

返回: Shared pointer to the new writer.

◆ filter_get()

std::shared_ptr< BagWriter > vlink::BagWriter::filter_get ( const std::string & path )

staticnodiscard

Returns an existing writer for path, or creates and starts a new one.

Searches the global writer registry. If a writer matching path is alive, returns a shared pointer to it. Otherwise creates a new writer for path, calls async_run() on it, registers it in the global registry, and returns it. The writer is automatically removed from the registry when the last shared pointer to it is released.

参数

path	Output file path.

返回: Shared pointer to the writer (never nullptr).

◆ get_default_app_name()

const std::string & vlink::BagWriter::get_default_app_name ( )

staticprotected

◆ get_default_tag_name()

const std::string & vlink::BagWriter::get_default_tag_name ( )

staticprotected

◆ get_default_timezone_diff()

int32_t vlink::BagWriter::get_default_timezone_diff ( )

staticprotected

◆ get_format_date()

std::string vlink::BagWriter::get_format_date	(	SystemClock *	current = nullptr,
		bool	file_format = false )

staticprotected

函数调用图:

◆ get_schema_interface()

SchemaPluginInterface * vlink::BagWriter::get_schema_interface ( )

staticprotected

◆ get_split_index()

virtual int vlink::BagWriter::get_split_index ( ) const

nodiscardpure virtual

Returns the zero-based index of the current split file.

Returns 0 if split mode is not active.

返回: Current split file index.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ get_url_meta() [1/2]

void vlink::BagWriter::get_url_meta	(	const std::string &	url,
		const std::string &	ser,
		int &	url_index,
		int &	ser_index ) const

protected

◆ get_url_meta() [2/2]

void vlink::BagWriter::get_url_meta	(	int	url_index,
		int	ser_index,
		std::string &	url,
		std::string &	ser ) const

protected

◆ global_get()

BagWriter * vlink::BagWriter::global_get ( )

static

Returns the process-global BagWriter activated by the VLINK_BAG_PATH environment variable.

The global writer is created automatically on first access if VLINK_BAG_PATH is set. Returns nullptr if the environment variable is not set.

返回: Raw pointer to the global writer, or nullptr.

函数调用图:

◆ is_dumping()

virtual bool vlink::BagWriter::is_dumping ( ) const

nodiscardpure virtual

Returns true if the writer is actively recording to disk.

返回: true if the backing file is open and being written.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ is_split_mode()

virtual bool vlink::BagWriter::is_split_mode ( ) const

nodiscardpure virtual

Returns true if the writer is in split-file mode.

返回: true when Config::split_by_size or Config::split_by_time is non-zero.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ push()

virtual int64_t vlink::BagWriter::push	(	const std::string &	url,
		const std::string &	ser_type,
		SchemaType	schema_type,
		ActionType	action_type,
		const Bytes &	data,
		int64_t *	microseconds_timestamp = nullptr,
		bool	immediate = false )

pure virtual

Records one message to the bag.

The message is enqueued on the recording loop and written asynchronously. If microseconds_timestamp is nullptr, the current system time is used.

参数

url	VLink URL of the topic (e.g., `"dds://my/topic"`).
ser_type	Serialisation type string (e.g., `"demo.proto.PointCloud"`, `"raw"`).
schema_type	Coarse schema family for the payload.
action_type	Action type (`kPublish`, `kRequest`, etc.).
data	Serialized payload bytes.
microseconds_timestamp	Optional pointer to a custom timestamp (microseconds).
immediate	If `true`, writes synchronously bypassing the queue.

返回: Sequence number (monotonically increasing) of the recorded message, or a negative value on error.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ push_schema()

virtual bool vlink::BagWriter::push_schema	(	const SchemaData &	schema_data,
		bool	immediate = false )

pure virtual

Embeds a SchemaData into the bag for later offline introspection.

参数

schema_data	Schema descriptor to store.
immediate	If `true`, merges synchronously; otherwise enqueues.

返回: false only when the immediate merge fails.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ register_schema_callback()

virtual void vlink::BagWriter::register_schema_callback ( SchemaCallback && callback )

pure virtual

Registers a callback that resolves serialisation type strings to SchemaData.

Called when a push() introduces a URL with an unknown ser_type.

参数

callback Function mapping ser_type string to SchemaData.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ register_split_callback()

virtual void vlink::BagWriter::register_split_callback	(	SplitCallback &&	callback,
		bool	before )

pure virtual

Registers a callback invoked when a file split occurs.

参数

callback	Called with (split_index, new_filename) on each split.
before	If `true`, the callback fires before the new file is opened; if `false`, it fires after.

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

◆ set_url_loss()

virtual void vlink::BagWriter::set_url_loss	(	const std::string &	url,
		double	loss )

pure virtual

Sets the expected message loss ratio for a given URL.

Stored as metadata in the bag. Used for post-processing diagnostics to distinguish intentional drops from unexpected loss.

参数

url	Topic URL.
loss	Loss ratio in the range [0.0, 1.0].

在 vlink::DatabaseWriter , 以及 vlink::McapWriter 内被实现.

该类的文档由以下文件生成:

include/vlink/extension/bag_writer.h

类

Public 类型

Public 成员函数

静态 Public 成员函数

Protected 成员函数

静态 Protected 成员函数

详细描述

成员类型定义说明

◆ SchemaCallback

◆ SplitCallback

◆ SystemClock

成员枚举类型说明

◆ CompressType

构造及析构函数说明

◆ BagWriter()

◆ ~BagWriter()

成员函数说明

◆ convert_action()

◆ create()

◆ filter_get()

◆ get_default_app_name()

◆ get_default_tag_name()

◆ get_default_timezone_diff()

◆ get_format_date()

◆ get_schema_interface()

◆ get_split_index()

◆ get_url_meta() [1/2]

◆ get_url_meta() [2/2]

◆ global_get()

◆ is_dumping()

◆ is_split_mode()

◆ push()

◆ push_schema()

◆ register_schema_callback()

◆ register_split_callback()

◆ set_url_loss()