ros2GH-16 Change name of converter interface to include "serialization"

- Easier to differentiate between storage format (e.g. sqlite) and serialization format (e.g. cdr) - Closer to naming in ros middleware
bosch-io · Oct 25, 2018 · 19112b0 · 19112b0
1 parent aef5986
commit 19112b0
Show file tree

Hide file tree

Showing 9 changed files with 47 additions and 47 deletions.
diff --git a/rosbag2/CMakeLists.txt b/rosbag2/CMakeLists.txt
@@ -26,7 +26,7 @@ find_package(rosidl_generator_cpp REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
   src/rosbag2/sequential_reader.cpp
-  src/rosbag2/format_converter_factory_impl.cpp
+  src/rosbag2/serialization_format_converter_factory.cpp
   src/rosbag2/typesupport_helpers.cpp
   src/rosbag2/writer.cpp)
 

diff --git a/...rosbag2/format_converter_factory_impl.hpp → ...erialization_format_converter_factory.hpp b/...rosbag2/format_converter_factory_impl.hpp → ...erialization_format_converter_factory.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2__FORMAT_CONVERTER_FACTORY_IMPL_HPP_
-#define ROSBAG2__FORMAT_CONVERTER_FACTORY_IMPL_HPP_
+#ifndef ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_HPP_
+#define ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_HPP_
 
-#include "rosbag2/format_converter_factory.hpp"
+#include "rosbag2/serialization_format_converter_factory_interface.hpp"
 
 #include <memory>
 #include <string>
 
-#include "rosbag2/format_converter_interface.hpp"
+#include "rosbag2/serialization_format_converter_interface.hpp"
 #include "rosbag2/visibility_control.hpp"
 
 // This is necessary because of using stl types here. It is completely safe, because
@@ -42,17 +42,19 @@ class ClassLoader;
 namespace rosbag2
 {
 
-class ROSBAG2_PUBLIC FormatConverterFactoryImpl : public FormatConverterFactory
+class ROSBAG2_PUBLIC SerializationFormatConverterFactoryImpl
+  : public SerializationFormatConverterFactoryInterface
 {
 public:
-  FormatConverterFactoryImpl();
+  SerializationFormatConverterFactoryImpl();
 
-  ~FormatConverterFactoryImpl() override;
+  ~SerializationFormatConverterFactoryImpl() override;
 
-  std::shared_ptr<FormatConverterInterface> load_converter(const std::string & format) override;
+  std::shared_ptr<SerializationFormatConverterInterface>
+  load_converter(const std::string & format) override;
 
 private:
-  std::unique_ptr<pluginlib::ClassLoader<FormatConverterInterface>> class_loader_;
+  std::unique_ptr<pluginlib::ClassLoader<SerializationFormatConverterInterface>> class_loader_;
 };
 
 }  // namespace rosbag2
@@ -61,4 +63,4 @@ class ROSBAG2_PUBLIC FormatConverterFactoryImpl : public FormatConverterFactory
 # pragma warning(pop)
 #endif
 
-#endif  // ROSBAG2__FORMAT_CONVERTER_FACTORY_IMPL_HPP_
+#endif  // ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_HPP_
diff --git a/...lude/rosbag2/format_converter_factory.hpp → ...on_format_converter_factory_interface.hpp b/...lude/rosbag2/format_converter_factory.hpp → ...on_format_converter_factory_interface.hpp
@@ -12,26 +12,27 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2__FORMAT_CONVERTER_FACTORY_HPP_
-#define ROSBAG2__FORMAT_CONVERTER_FACTORY_HPP_
+#ifndef ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_INTERFACE_HPP_
+#define ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
 
-#include "rosbag2/format_converter_interface.hpp"
+#include "rosbag2/serialization_format_converter_interface.hpp"
 #include "rosbag2/visibility_control.hpp"
 
 namespace rosbag2
 {
 
-class ROSBAG2_PUBLIC FormatConverterFactory
+class ROSBAG2_PUBLIC SerializationFormatConverterFactoryInterface
 {
 public:
-  virtual ~FormatConverterFactory() = default;
+  virtual ~SerializationFormatConverterFactoryInterface() = default;
 
-  virtual std::shared_ptr<FormatConverterInterface> load_converter(const std::string & format) = 0;
+  virtual std::shared_ptr<SerializationFormatConverterInterface>
+  load_converter(const std::string & format) = 0;
 };
 
 }  // namespace rosbag2
 
-#endif  // ROSBAG2__FORMAT_CONVERTER_FACTORY_HPP_
+#endif  // ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_FACTORY_INTERFACE_HPP_
diff --git a/...de/rosbag2/format_converter_interface.hpp → ...ialization_format_converter_interface.hpp b/...de/rosbag2/format_converter_interface.hpp → ...ialization_format_converter_interface.hpp
@@ -12,26 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2__FORMAT_CONVERTER_INTERFACE_HPP_
-#define ROSBAG2__FORMAT_CONVERTER_INTERFACE_HPP_
+#ifndef ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_INTERFACE_HPP_
+#define ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_INTERFACE_HPP_
 
 #include <memory>
 #include <string>
 
 #include "rosbag2/types/ros2_message.hpp"
+#include "rosbag2/types.hpp"
 #include "rcutils/types.h"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
-using SerializedBagMessage = rosbag2_storage::SerializedBagMessage;
-
 namespace rosbag2
 {
 
-class FormatConverterInterface
+class SerializationFormatConverterInterface
 {
 public:
-  virtual ~FormatConverterInterface() = default;
+  virtual ~SerializationFormatConverterInterface() = default;
 
   virtual void deserialize(
     std::shared_ptr<rosbag2_ros2_message_t> ros_message,
@@ -46,4 +45,4 @@ class FormatConverterInterface
 
 }  // namespace rosbag2
 
-#endif  // ROSBAG2__FORMAT_CONVERTER_INTERFACE_HPP_
+#endif  // ROSBAG2__SERIALIZATION_FORMAT_CONVERTER_INTERFACE_HPP_
diff --git a/...rosbag2/format_converter_factory_impl.cpp → ...erialization_format_converter_factory.cpp b/...rosbag2/format_converter_factory_impl.cpp → ...erialization_format_converter_factory.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "rosbag2/format_converter_factory_impl.hpp"
+#include "rosbag2/serialization_format_converter_factory.hpp"
 
 #include <memory>
 #include <string>
@@ -23,22 +23,21 @@
 namespace rosbag2
 {
 
-FormatConverterFactoryImpl::FormatConverterFactoryImpl()
+SerializationFormatConverterFactoryImpl::SerializationFormatConverterFactoryImpl()
 {
   try {
-    class_loader_ = std::make_unique<pluginlib::ClassLoader<FormatConverterInterface>>(
-      "rosbag2", "rosbag2::FormatConverterInterface");
+    class_loader_ = std::make_unique<pluginlib::ClassLoader<SerializationFormatConverterInterface>>(
+      "rosbag2", "rosbag2::SerializationFormatConverterInterface");
   } catch (const std::exception & e) {
     ROSBAG2_LOG_ERROR_STREAM("Unable to create class loader instance: " << e.what());
     throw e;
   }
 }
 
-// needed explicit destructor because of unique_ptr for pimpl
-FormatConverterFactoryImpl::~FormatConverterFactoryImpl() = default;
+SerializationFormatConverterFactoryImpl::~SerializationFormatConverterFactoryImpl() = default;
 
-std::shared_ptr<FormatConverterInterface> FormatConverterFactoryImpl::load_converter(
-  const std::string & format)
+std::shared_ptr<SerializationFormatConverterInterface>
+SerializationFormatConverterFactoryImpl::load_converter(const std::string & format)
 {
   auto converter_id = format + "_converter";
 
@@ -50,7 +49,7 @@ std::shared_ptr<FormatConverterInterface> FormatConverterFactoryImpl::load_conve
   }
 
   try {
-    return std::shared_ptr<FormatConverterInterface>(
+    return std::shared_ptr<SerializationFormatConverterInterface>(
       class_loader_->createUnmanagedInstance(converter_id));
   } catch (const std::runtime_error & ex) {
     ROSBAG2_LOG_ERROR_STREAM("Unable to load instance of converter interface: " << ex.what());

diff --git a/rosbag2/test/rosbag2/converter_test_plugin.cpp b/rosbag2/test/rosbag2/converter_test_plugin.cpp
@@ -16,14 +16,12 @@
 #include <memory>
 #include <string>
 
-#include "pluginlib/class_list_macros.hpp"
-
 #include "converter_test_plugin.hpp"
 
 void ConverterTestPlugin::deserialize(
 
   std::shared_ptr<rosbag2_ros2_message_t> ros_message,
-  const std::shared_ptr<const SerializedBagMessage> serialized_message,
+  const std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
   const rosidl_message_type_support_t * type_support)
 {
   (void) ros_message;
@@ -32,7 +30,7 @@ void ConverterTestPlugin::deserialize(
 }
 
 void ConverterTestPlugin::serialize(
-  std::shared_ptr<SerializedBagMessage> serialized_message,
+  std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
   const std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
   const rosidl_message_type_support_t * type_support)
 {
@@ -41,4 +39,5 @@ void ConverterTestPlugin::serialize(
   (void) type_support;
 }
 
-PLUGINLIB_EXPORT_CLASS(ConverterTestPlugin, rosbag2::FormatConverterInterface)
+#include "pluginlib/class_list_macros.hpp"  // NOLINT
+PLUGINLIB_EXPORT_CLASS(ConverterTestPlugin, rosbag2::SerializationFormatConverterInterface)
diff --git a/rosbag2/test/rosbag2/converter_test_plugin.hpp b/rosbag2/test/rosbag2/converter_test_plugin.hpp
@@ -19,18 +19,18 @@
 #include <memory>
 #include <string>
 
-#include "rosbag2/format_converter_interface.hpp"
+#include "rosbag2/serialization_format_converter_interface.hpp"
 
-class ConverterTestPlugin : public rosbag2::FormatConverterInterface
+class ConverterTestPlugin : public rosbag2::SerializationFormatConverterInterface
 {
 public:
   void deserialize(
     std::shared_ptr<rosbag2_ros2_message_t> ros_message,
-    std::shared_ptr<const SerializedBagMessage> serialized_message,
+    std::shared_ptr<const rosbag2::SerializedBagMessage> serialized_message,
     const rosidl_message_type_support_t * type_support) override;
 
   void serialize(
-    std::shared_ptr<SerializedBagMessage> serialized_message,
+    std::shared_ptr<rosbag2::SerializedBagMessage> serialized_message,
     std::shared_ptr<const rosbag2_ros2_message_t> ros_message,
     const rosidl_message_type_support_t * type_support) override;
 };

diff --git a/rosbag2/test/rosbag2/converter_test_plugin.xml b/rosbag2/test/rosbag2/converter_test_plugin.xml
@@ -2,7 +2,7 @@
   <class
     name="a_converter"
     type="ConverterTestPlugin"
-    base_class_type="rosbag2::FormatConverterInterface"
+    base_class_type="rosbag2::SerializationFormatConverterInterface"
   >
     <description>This is a test format converter plugin.</description>
   </class>

diff --git a/rosbag2/test/rosbag2/test_converter_factory.cpp b/rosbag2/test/rosbag2/test_converter_factory.cpp
@@ -17,14 +17,14 @@
 #include <memory>
 #include <string>
 
-#include "rosbag2/format_converter_factory_impl.hpp"
+#include "rosbag2/serialization_format_converter_factory.hpp"
 
-using rosbag2::FormatConverterInterface;
+using rosbag2::SerializationFormatConverterInterface;
 
 class ConverterFactoryTest : public ::testing::Test
 {
 public:
-  rosbag2::FormatConverterFactoryImpl factory;
+  rosbag2::SerializationFormatConverterFactoryImpl factory;
 };
 
 TEST_F(ConverterFactoryTest, load_test_plugin) {