feat: first working dds_recorder

azure-pipelines.yml

@@ -29,6 +29,7 @@ jobs:
         build_type: Release
         sanitizer: undefined
         cc: gcc
+        cxx: g++
       'Ubuntu 24.04 (Debug, x86_64, Iceoryx)':
         image: ubuntu-24.04
         # No address sanitizer because of this in test run:
@@ -39,6 +40,7 @@ jobs:
         sanitizer: undefined
         iceoryx: on
         cc: gcc
+        cxx: g++
         coverage: on
       'Ubuntu 24.04 (Debug, x86_64, Iceoryx2)':
         image: ubuntu-24.04
@@ -50,6 +52,7 @@ jobs:
         sanitizer: undefined
         iceoryx2: on
         cc: gcc
+        cxx: g++
         coverage: on
       'Ubuntu 24.04 (Release, x86_64)':
         image: ubuntu-24.04
@@ -67,42 +70,50 @@ jobs:
         topic_discovery: off
         idlc_xtests: off # temporary disabled because of passing -t option to idlc in this test for recursive types
         cc: gcc-12
+        cxx: g++-12
       'Ubuntu 24.04 with GCC 12 (Debug, x86_64, no tests)':
         image: ubuntu-24.04
         cc: gcc-12
+        cxx: g++-12
         testing: off
         idlc_xtests: off
       'Ubuntu 24.04 with Clang (Debug, x86_64)':
         image: ubuntu-24.04
         analyzer: on
         sanitizer: address,undefined
         cc: clang
+        cxx: clang++
       'Ubuntu 24.04 with Clang (Debug, x86_64, no security)':
         image: ubuntu-24.04
         sanitizer: address,undefined
         security: off
         cc: clang
+        cxx: clang++
       'Ubuntu 24.04 with Clang (Release, x86_64, no topic discovery)':
         image: ubuntu-24.04
         build_type: Release
         sanitizer: undefined
         topic_discovery: off
         idlc_xtests: off # temporary disabled because of passing -t option to idlc in this test for recursive types
         cc: clang
+        cxx: clang++
       'macOS 14 with Clang (Debug, x86_64)':
         image: macos-14
         sanitizer: address,undefined
         deadline_update_skip: on
         cc: clang
+        cxx: clang++
         coverage: on
       'macOS 14 with Clang (Release, x86_64)':
         image: macos-14
         build_type: Release
         sanitizer: undefined
         cc: clang
+        cxx: clang++
       'macOS 14 with GCC 14 (Debug, analyzer, x86_64)':
         image: macos-14
         cc: gcc-14
+        cxx: g++-14
         analyzer: on
       # 32-bit Windows: without SSL/security because Chocolateley only provides 64-bit OpenSSL
       'Windows 2025 with Visual Studio 2022 (Debug, x86, no security)':

examples/CMakeLists.txt

@@ -76,6 +76,7 @@ if (ENABLE_TOPIC_DISCOVERY)
 endif ()
 
 add_subdirectory(helloworld)
+add_subdirectory(recorder_and_replayer)
 add_subdirectory(roundtrip)
 add_subdirectory(throughput)
 if (ENABLE_TOPIC_DISCOVERY)

examples/recorder_and_replayer/CMakeLists.txt

@@ -0,0 +1,99 @@
+# Copyright(c) 2023 ZettaScale Technology and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+cmake_minimum_required(VERSION 3.16)
+project(recorder_replayer LANGUAGES C CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED)
+include(FetchContent)
+
+# Prevent subprojects (like mcap_builder) from attempting to find lz4/zstd
+set(CMAKE_DISABLE_FIND_PACKAGE_lz4 TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_zstd TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_LZ4 TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_ZSTD TRUE)
+
+set(BUILD_SHARED_LIBS OFF CACHE BOOL "" FORCE)
+FetchContent_Declare(
+  mcap_builder
+  GIT_REPOSITORY https://github.com/olympus-robotics/mcap_builder.git
+  GIT_TAG main
+)
+FetchContent_MakeAvailable(mcap_builder)
+
+if(NOT TARGET CycloneDDS::ddsc)
+  find_package(CycloneDDS REQUIRED)
+endif()
+
+add_library(dds_topic_descriptor_serde STATIC dds_topic_descriptor_serde.c)
+if(TARGET CycloneDDS::ddsc)
+  # dds_topic_descriptor_serde need dds_stream_countops()
+  target_include_directories(dds_topic_descriptor_serde
+    PRIVATE
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include")
+endif()
+target_include_directories(dds_topic_descriptor_serde PUBLIC .)
+
+target_link_libraries(dds_topic_descriptor_serde PRIVATE CycloneDDS::ddsc)
+
+add_executable(recorder dds_recorder.cpp)
+
+if(TARGET CycloneDDS::ddsc)
+  target_include_directories(recorder
+    PRIVATE
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsi/include")
+endif()
+target_link_libraries(recorder CycloneDDS::ddsc dds_topic_descriptor_serde mcap)
+
+
+# add_executable(replayer dds_replayer.cpp)
+
+# if(TARGET CycloneDDS::ddsc)
+#   target_include_directories(replayer
+#     PRIVATE
+#     "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include"
+#     "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsi/include")
+# endif()
+# target_link_libraries(replayer CycloneDDS::ddsc dds_topic_descriptor_serde mcap)
+
+# force to ignore many compile warnings in mcap...
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
+  set(disable_flags 
+    "-Wno-documentation"
+    "-Wno-error=documentation"
+    "-Wno-sign-conversion"
+    "-Wno-error=sign-conversion"
+    "-Wno-implicit-int-conversion"
+    "-Wno-error=implicit-int-conversion"
+  )
+  target_compile_options(mcap PRIVATE ${disable_flags})
+  target_compile_options(recorder PRIVATE ${disable_flags})
+  # target_compile_options(replayer PRIVATE ${disable_flags})
+endif()
+
+if(MSVC)
+  target_compile_options(mcap PRIVATE /wd4251 /WX-)
+  target_compile_options(recorder PRIVATE /wd4251 /WX-)
+endif()
+
+if(CMAKE_C_COMPILER_ID STREQUAL "GNU")
+  if(ANALYZER STREQUAL "on")
+    if(CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL "12")
+      set(disable_flags
+      "-Wno-error=analyzer-malloc-leak"
+      "-Wno-analyzer-malloc-leak"
+      )
+      target_compile_options(mcap PRIVATE ${disable_flags})
+      target_compile_options(recorder PRIVATE ${disable_flags})
+    endif()
+  endif()
+endif()