.. _program_listing_file__tmp_ws_src_rosbag2_rosbag2_storage_sqlite3_include_rosbag2_storage_sqlite3_sqlite_storage.hpp:

Program Listing for File sqlite_storage.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rosbag2_rosbag2_storage_sqlite3_include_rosbag2_storage_sqlite3_sqlite_storage.hpp>` (``/tmp/ws/src/rosbag2/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2018, Bosch Software Innovations GmbH.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROSBAG2_STORAGE_SQLITE3__SQLITE_STORAGE_HPP_
   #define ROSBAG2_STORAGE_SQLITE3__SQLITE_STORAGE_HPP_
   
   #include <atomic>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include "rcpputils/thread_safety_annotations.hpp"
   #include "rosbag2_storage/storage_interfaces/read_write_interface.hpp"
   #include "rosbag2_storage/serialized_bag_message.hpp"
   #include "rosbag2_storage/storage_filter.hpp"
   #include "rosbag2_storage/topic_metadata.hpp"
   #include "rosbag2_storage/bag_metadata.hpp"
   #include "rosbag2_storage_sqlite3/sqlite_wrapper.hpp"
   #include "rosbag2_storage_sqlite3/visibility_control.hpp"
   
   // This is necessary because of using stl types here. It is completely safe, because
   // a) the member is not accessible from the outside
   // b) there are no inline functions.
   #ifdef _WIN32
   # pragma warning(push)
   # pragma warning(disable:4251)
   #endif
   
   namespace rosbag2_storage_plugins
   {
   
   class ROSBAG2_STORAGE_DEFAULT_PLUGINS_PUBLIC SqliteStorage
     : public rosbag2_storage::storage_interfaces::ReadWriteInterface
   {
   public:
     SqliteStorage() = default;
   
     ~SqliteStorage() override;
   
     void open(
       const rosbag2_storage::StorageOptions & storage_options,
       rosbag2_storage::storage_interfaces::IOFlag io_flag =
       rosbag2_storage::storage_interfaces::IOFlag::READ_WRITE) override;
   
     void update_metadata(const rosbag2_storage::BagMetadata & metadata) override;
   
     void remove_topic(const rosbag2_storage::TopicMetadata & topic) override;
   
     void create_topic(
       const rosbag2_storage::TopicMetadata & topic,
       const rosbag2_storage::MessageDefinition & message_definition) override;
   
     void write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message) override;
   
     void write(
       const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> & messages)
     override;
   
     bool set_read_order(const rosbag2_storage::ReadOrder &) override;
   
     bool has_next() override;
   
     std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override;
   
     std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types() override;
   
     void get_all_message_definitions(
       std::vector<rosbag2_storage::MessageDefinition> & definitons) override;
   
     rosbag2_storage::BagMetadata get_metadata() override;
   
     std::string get_relative_file_path() const override;
   
     uint64_t get_bagfile_size() const override;
   
     std::string get_storage_identifier() const override;
   
     uint64_t get_minimum_split_file_size() const override;
   
     void set_filter(const rosbag2_storage::StorageFilter & storage_filter) override;
   
     void reset_filter() override;
   
     void seek(const rcutils_time_point_value_t & timestamp) override;
   
     std::string get_storage_setting(const std::string & key);
   
   
     SqliteWrapper & get_sqlite_database_wrapper();
   
     int get_db_schema_version() const;
   
     enum class PresetProfile
     {
       Resilient,
       WriteOptimized,
     };
     static PresetProfile parse_preset_profile(const std::string & profile_string);
   
   private:
     void initialize();
     void add_topic_to_metadata(
       int64_t inner_topic_id, std::string topic_name, std::string topic_type, std::string ser_format,
       int64_t msg_count, const std::string & offered_qos_profiles_str,
       const std::string & type_hash);
     void read_metadata();
     void prepare_for_writing();
     void prepare_for_reading();
     void fill_topics_and_types();
     void activate_transaction();
     void commit_transaction();
     void write_locked(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message)
     RCPPUTILS_TSA_REQUIRES(db_read_write_mutex_);
     int get_last_rowid();
     int read_db_schema_version();
     uint64_t get_page_size() const;
     uint64_t read_total_page_count_locked() const RCPPUTILS_TSA_REQUIRES(db_read_write_mutex_);
     uint16_t get_extern_topic_id(int64_t inner_topic_id) const;
     uint16_t get_or_generate_extern_topic_id(int64_t inner_topic_id);
   
     using ReadQueryResult = SqliteStatementWrapper::QueryResult<
       std::shared_ptr<rcutils_uint8_array_t>, rcutils_time_point_value_t, std::string, int>;
   
     std::shared_ptr<SqliteWrapper> database_ RCPPUTILS_TSA_GUARDED_BY(db_read_write_mutex_);
     SqliteStatement write_statement_ {};
     SqliteStatement read_statement_ {};
     SqliteStatement page_count_statement_ {};
     ReadQueryResult message_result_ {nullptr};
     ReadQueryResult::Iterator current_message_row_ {
       nullptr, SqliteStatementWrapper::QueryResult<>::Iterator::POSITION_END};
     std::unordered_map<std::string, int64_t> topics_ RCPPUTILS_TSA_GUARDED_BY(db_read_write_mutex_);
     std::unordered_map<std::string, int64_t> msg_definitions_ RCPPUTILS_TSA_GUARDED_BY(
       db_read_write_mutex_);
     std::unordered_map<int64_t, uint16_t> inner_to_extern_topic_id_map_;
     std::atomic<uint16_t> last_extern_topic_id_{0};  // 0 corresponds to the invalid topic_id
     std::vector<rosbag2_storage::TopicMetadata> all_topics_and_types_;
     std::string relative_path_;
     std::atomic_bool active_transaction_ {false};
   
     rcutils_time_point_value_t seek_time_ = 0;
     int seek_row_id_ = 0;
     rosbag2_storage::ReadOrder read_order_{};
     rosbag2_storage::StorageFilter storage_filter_ {};
     rosbag2_storage::storage_interfaces::IOFlag storage_mode_{
       rosbag2_storage::storage_interfaces::IOFlag::READ_WRITE};
   
     // This mutex is necessary to protect:
     // a) database access (this could also be done with FULLMUTEX), but see b)
     // b) topics_ collection - since we could be writing and reading it at the same time
     std::mutex db_read_write_mutex_;
   
     const int kDBSchemaVersion_ = 4;
     int db_schema_version_ = -1;  //  Valid version number starting from 1
     rosbag2_storage::BagMetadata metadata_{};
     uint64_t db_page_size_ = 0;
     std::atomic<uint64_t> db_file_size_{0};
   };
   
   
   }  // namespace rosbag2_storage_plugins
   
   #ifdef _WIN32
   # pragma warning(pop)
   #endif
   
   #endif  // ROSBAG2_STORAGE_SQLITE3__SQLITE_STORAGE_HPP_