Program Listing for File mcap.cpp

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#include <foxglove-c/foxglove-c.h>
#include <foxglove/channel.hpp>
#include <foxglove/context.hpp>
#include <foxglove/error.hpp>
#include <foxglove/mcap.hpp>

namespace foxglove {

FoxgloveResult<McapWriter> McapWriter::create(const McapWriterOptions& options) {
  foxglove_internal_register_cpp_wrapper();

  foxglove_mcap_options c_options = {};
  c_options.context = options.context.getInner();
  c_options.path = {options.path.data(), options.path.length()};
  c_options.profile = {options.profile.data(), options.profile.length()};
  // TODO FG-11215: generate the enum for C++ from the C enum
  // so this is guaranteed to never get out of sync
  c_options.compression = static_cast<foxglove_mcap_compression>(options.compression);
  c_options.chunk_size = options.chunk_size;
  c_options.use_chunks = options.use_chunks;
  c_options.disable_seeking = options.disable_seeking;
  c_options.emit_statistics = options.emit_statistics;
  c_options.emit_summary_offsets = options.emit_summary_offsets;
  c_options.emit_message_indexes = options.emit_message_indexes;
  c_options.emit_chunk_indexes = options.emit_chunk_indexes;
  c_options.emit_attachment_indexes = options.emit_attachment_indexes;
  c_options.emit_metadata_indexes = options.emit_metadata_indexes;
  c_options.repeat_channels = options.repeat_channels;
  c_options.repeat_schemas = options.repeat_schemas;
  c_options.truncate = options.truncate;

  // Handle sink channel filter with context
  std::unique_ptr<SinkChannelFilterFn> sink_channel_filter;
  if (options.sink_channel_filter) {
    // Create a wrapper to hold the function
    sink_channel_filter = std::make_unique<SinkChannelFilterFn>(options.sink_channel_filter);

    c_options.sink_channel_filter_context = sink_channel_filter.get();
    c_options.sink_channel_filter =
      [](const void* context, const struct foxglove_channel_descriptor* channel) -> bool {
      try {
        if (!context) {
          return true;
        }
        auto* filter_func = static_cast<const SinkChannelFilterFn*>(context);
        auto cpp_channel = ChannelDescriptor(channel);
        return (*filter_func)(std::move(cpp_channel));
      } catch (const std::exception& exc) {
        warn() << "Sink channel filter failed: " << exc.what();
        return false;
      }
    };
  }

  foxglove_mcap_writer* writer = nullptr;
  foxglove_error error = foxglove_mcap_open(&c_options, &writer);
  if (error != foxglove_error::FOXGLOVE_ERROR_OK || writer == nullptr) {
    return tl::unexpected(static_cast<FoxgloveError>(error));
  }

  return McapWriter(writer, std::move(sink_channel_filter));
}

McapWriter::McapWriter(
  foxglove_mcap_writer* writer, std::unique_ptr<SinkChannelFilterFn> sink_channel_filter
)
    : sink_channel_filter_(std::move(sink_channel_filter))
    , impl_(writer, foxglove_mcap_close) {}

FoxgloveError McapWriter::close() {
  foxglove_error error = foxglove_mcap_close(impl_.release());
  return FoxgloveError(error);
}

}  // namespace foxglove