Optional zstd compression

Author: asherikov

CMakeLists.txt

@@ -90,6 +90,8 @@ file(
     WRITE
     "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
     "include(\"\${CMAKE_CURRENT_LIST_DIR}/${PROJECT_NAME}Targets.cmake\")\n"
+    "include(CMakeFindDependencyMacro)\n"
+    "find_dependency(zstd REQUIRED)\n"
 )
 
 install(

include/pjmsg_mcap_wrapper/all.h

@@ -3,17 +3,16 @@
     @author  Alexander Sherikov
     @copyright 2024 Alexander Sherikov. Licensed under the Apache License,
     Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
-
-    @brief Sink class.
 */
 
 #pragma once
 
 #include <filesystem>
 #include <vector>
 
-#define PJMSG_MCAP_WRAPPER_PUBLIC __attribute__((visibility("default")))
-
+#ifndef PJMSG_MCAP_WRAPPER_PUBLIC
+#    define PJMSG_MCAP_WRAPPER_PUBLIC __attribute__((visibility("default")))
+#endif
 
 namespace pjmsg_mcap_wrapper
 {
@@ -47,6 +46,18 @@ namespace pjmsg_mcap_wrapper
 
     class PJMSG_MCAP_WRAPPER_PUBLIC Writer
     {
+    public:
+        struct PJMSG_MCAP_WRAPPER_PUBLIC Parameters
+        {
+            enum class PJMSG_MCAP_WRAPPER_PUBLIC Compression
+            {
+                NONE,
+                ZSTD
+            } compression_ = Compression::NONE;
+
+            Parameters(){};
+        };
+
     protected:
         class Implementation;
 
@@ -56,7 +67,10 @@ namespace pjmsg_mcap_wrapper
     public:
         Writer();
         ~Writer();
-        void initialize(const std::filesystem::path &filename, const std::string &topic_prefix);
+        void initialize(
+                const std::filesystem::path &filename,
+                const std::string &topic_prefix,
+                const Parameters &params = Parameters{});
         void flush();
         void write(const Message &message);
     };

package.xml

@@ -7,6 +7,9 @@
     <author email="alexander@sherikov.net">Alexander Sherikov</author>
     <license>Apache 2.0</license>
 
+    <buildtool_depend>cmake</buildtool_depend>
+    <depend>libzstd-dev</depend>
+
     <export>
         <build_type>cmake</build_type>
     </export>

src/writer.cpp

@@ -15,7 +15,6 @@
 
 #define MCAP_IMPLEMENTATION
 #define MCAP_COMPRESSION_NO_LZ4
-#define MCAP_COMPRESSION_NO_ZSTD
 #define MCAP_PUBLIC __attribute__((visibility("hidden")))
 
 #pragma GCC diagnostic push
@@ -241,12 +240,28 @@ namespace pjmsg_mcap_wrapper
             writer_.close();
         }
 
-        void initialize(const std::filesystem::path &filename, const std::string &topic_prefix)
+        void initialize(
+                const std::filesystem::path &filename,
+                const std::string &topic_prefix,
+                const Writer::Parameters &params)
         {
             {
                 mcap::McapWriterOptions options = mcap::McapWriterOptions("ros2msg");
-                /// @todo needed if compression is used, delays writing
-                options.noChunking = true;
+
+                // Set compression based on parameters
+                switch (params.compression_)
+                {
+                    case Writer::Parameters::Compression::ZSTD:
+                        options.noChunking = false;
+                        options.compression = mcap::Compression::Zstd;
+                        break;
+                    case Writer::Parameters::Compression::NONE:
+                    default:
+                        options.noChunking = true;
+                        options.compression = mcap::Compression::None;
+                        break;
+                }
+
                 const mcap::Status res = writer_.open(filename.native(), options);
                 if (not res.ok())
                 {
@@ -279,9 +294,12 @@ namespace pjmsg_mcap_wrapper
 
     Writer::~Writer() = default;
 
-    void Writer::initialize(const std::filesystem::path &filename, const std::string &topic_prefix)
+    void Writer::initialize(
+            const std::filesystem::path &filename,
+            const std::string &topic_prefix,
+            const Writer::Parameters &params)
     {
-        pimpl_->initialize(filename, topic_prefix);
+        pimpl_->initialize(filename, topic_prefix, params);
     }
 
     void Writer::flush()