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‎.github/workflows/main.yml‎

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on: [push, pull_request]
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defaults:
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run:
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shell: bash
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jobs:
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jammy_ccws_static:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/pjmsg_mcap_wrapper
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- run: make bp_install_build BUILD_PROFILE=scan_build
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- run: make bp_install_build BUILD_PROFILE=static_checks
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- run: mkdir -p src/.ccws
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- run: echo "pjmsg_mcap_wrapper/src/3rdparty/" >> src/.ccws/static_checks.exceptions.paths
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- run: make BUILD_PROFILE=static_checks
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- run: make dep_install PKG=pjmsg_mcap_wrapper
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- run: make pjmsg_mcap_wrapper BUILD_PROFILE=scan_build
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jammy_ccws_plain_22:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/pjmsg_mcap_wrapper
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- run: make bp_install_build BUILD_PROFILE=reldebug
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- run: make dep_install PKG=pjmsg_mcap_wrapper
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- run: make pjmsg_mcap_wrapper
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- run: make test PKG=pjmsg_mcap_wrapper
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jammy_ccws_plain_24:
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runs-on: ubuntu-24.04
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/pjmsg_mcap_wrapper
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- run: make bp_install_build BUILD_PROFILE=reldebug
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- run: make dep_install PKG=pjmsg_mcap_wrapper
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- run: make pjmsg_mcap_wrapper
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- run: make test PKG=pjmsg_mcap_wrapper
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jammy_ccws_threadsan:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/pjmsg_mcap_wrapper
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- run: make bp_install_build BUILD_PROFILE=thread_sanitizer
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- run: make dep_install PKG=pjmsg_mcap_wrapper
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- run: make pjmsg_mcap_wrapper BUILD_PROFILE=thread_sanitizer
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- run: make test PKG=pjmsg_mcap_wrapper BUILD_PROFILE=thread_sanitizer
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jammy_ccws_asan:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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repository: asherikov/ccws
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- uses: actions/checkout@v4
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with:
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path: src/pjmsg_mcap_wrapper
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- run: make bp_install_build BUILD_PROFILE=addr_undef_sanitizers
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- run: make dep_install PKG=pjmsg_mcap_wrapper
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- run: make pjmsg_mcap_wrapper BUILD_PROFILE=addr_undef_sanitizers
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- run: make test PKG=pjmsg_mcap_wrapper BUILD_PROFILE=addr_undef_sanitizers

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(pjmsg_mcap_wrapper VERSION 0.1.0 LANGUAGES CXX)
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if(CCWS_CXX_FLAGS)
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CCWS_CXX_FLAGS}")
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set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${CCWS_LINKER_FLAGS}")
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else()
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_VERBOSE_MAKEFILE ON)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror)
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endif()
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endif()
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set(CMAKE_CXX_VISIBILITY_PRESET hidden)
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set(CMAKE_VISIBILITY_INLINES_HIDDEN hidden)
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add_subdirectory(src/3rdparty/)
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if(CCWS_CLANG_TIDY)
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set(CMAKE_CXX_CLANG_TIDY "${CCWS_CLANG_TIDY}" CACHE STRING "" FORCE)
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endif()
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add_library(${PROJECT_NAME} SHARED
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src/writer.cpp
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)
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target_link_libraries(${PROJECT_NAME}
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PRIVATE fastcdr
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)
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_include_directories(${PROJECT_NAME}
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SYSTEM
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PRIVATE include/${PROJECT_NAME}/generated/
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PRIVATE src/3rdparty/mcap/cpp/mcap/include/
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PRIVATE src/3rdparty/generated/
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)
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set_property(TARGET ${PROJECT_NAME} PROPERTY INTERFACE_${PROJECT_NAME}_MAJOR_VERSION ${PROJECT_VERSION_MAJOR})
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set_property(TARGET ${PROJECT_NAME} APPEND PROPERTY COMPATIBLE_INTERFACE_STRING ${PROJECT_VERSION_MAJOR})
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install(
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TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
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INCLUDES DESTINATION include
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)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY include/${PROJECT_NAME}
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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# ---
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# cmake package stuff
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export(EXPORT ${PROJECT_NAME}
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FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake"
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NAMESPACE ${PROJECT_NAME}::
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)
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install(EXPORT ${PROJECT_NAME}
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FILE ${PROJECT_NAME}Targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION share/${PROJECT_NAME}/
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)
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include(CMakePackageConfigHelpers)
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write_basic_package_version_file(
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"${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
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VERSION ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}
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COMPATIBILITY SameMajorVersion
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)
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file(
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WRITE
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"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
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"include(\"\${CMAKE_CURRENT_LIST_DIR}/${PROJECT_NAME}Targets.cmake\")\n"
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)
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install(
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FILES
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"${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
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"${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
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DESTINATION share/${PROJECT_NAME}/
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)
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# ---

‎README.md‎

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`pjmsg_mcap_writer`
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===================
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Logging library that writes `plotjuggler_msgs` to `MCAP` files without `ROS`
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dependencies. Library incorporates `FastCDR` serializer, `MCAP` library, and
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pregenerated `plotjuggler_msgs` data structures: none of these dependencies are
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exposed through the API to avoid possible conflicts.

‎include/pjmsg_mcap_wrapper/all.h‎

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/**
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@file
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@author Alexander Sherikov
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@copyright 2024 Alexander Sherikov. Licensed under the Apache License,
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Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
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@brief Sink class.
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*/
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#pragma once
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#include <filesystem>
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#include <vector>
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#define PJMSG_MCAP_WRAPPER_PUBLIC __attribute__((visibility("default")))
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namespace pjmsg_mcap_wrapper
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{
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class PJMSG_MCAP_WRAPPER_PUBLIC Message
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{
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public:
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class Implementation;
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public:
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const std::unique_ptr<Implementation> pimpl_;
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public:
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Message();
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~Message();
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std::vector<std::string> &names();
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std::vector<double> &values();
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void bumpVersion();
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void setStamp(const uint64_t timestamp);
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void reserve(const std::size_t size);
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void resize(const std::size_t size);
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std::string &name(const std::size_t index);
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double &value(const std::size_t index);
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[[nodiscard]] std::size_t size() const;
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void setVersion(const uint32_t version);
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};
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class PJMSG_MCAP_WRAPPER_PUBLIC Writer
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{
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protected:
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class Implementation;
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protected:
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const std::unique_ptr<Implementation> pimpl_;
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public:
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Writer();
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~Writer();
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void initialize(const std::filesystem::path &filename, const std::string &topic_prefix);
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void flush();
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void write(const Message &message);
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};
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} // namespace pjmsg_mcap

‎messages/Makefile‎

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OUTPUT_DIR=../src/3rdparty/generated
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generate: clean
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mkdir -p ${OUTPUT_DIR}
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~/Fast-DDS-Gen/scripts/fastddsgen \
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-default_extensibility final \
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-flat-output-dir \
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-fusion \
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-language c++ \
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-typeros2 \
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-no-typeobjectsupport \
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-I ./idl/ \
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-d ${OUTPUT_DIR}/ \
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idl/*.idl
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rm -rf ${OUTPUT_DIR}/*PubSubTypes*
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clean:
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rm -rf ${OUTPUT_DIR}

‎messages/README.md‎

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```
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from mcap.reader import make_reader
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with open('filename', "rb") as f:
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reader = make_reader(f)
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for schema, channel, message in reader.iter_messages(topics=["sample_topic"]):
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print(f"{channel.topic} ({schema.name}): {message.data}")
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```

‎messages/idl/Header.idl‎

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#include "Time.idl"
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module std_msgs {
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module msg {
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struct Header {
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builtin_interfaces::msg::Time stamp;
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string frame_id;
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};
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};
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};

‎messages/idl/StatisticsNames.idl‎

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#include "Header.idl"
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module plotjuggler_msgs {
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module msg {
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struct StatisticsNames {
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std_msgs::msg::Header header;
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sequence<string> names;
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uint32 names_version;
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};
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};
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};

‎messages/idl/StatisticsValues.idl‎

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#include "Header.idl"
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module plotjuggler_msgs {
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module msg {
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struct StatisticsValues {
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std_msgs::msg::Header header;
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sequence<double> values;
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uint32 names_version;
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};
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};
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};

‎messages/idl/Time.idl‎

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module builtin_interfaces {
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module msg {
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struct Time {
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int32 sec;
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uint32 nanosec;
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};
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};
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};

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