[21413] Record data in SQL

ddsrecorder/CMakeLists.txt

@@ -16,8 +16,10 @@
 # CMake build rules for DDS Recorder Submodule
 ###############################################################################
 cmake_minimum_required(VERSION 3.5)
+set(CMAKE_SYSTEM_VERSION 10.0)
 
 # Done this to set machine architecture and be able to call cmake_utils
+enable_language(C)
 enable_language(CXX)
 
 ###############################################################################
@@ -60,18 +62,8 @@ project(
 # - Configure log depending on LOG_INFO flag and CMake type
 configure_project_cpp()
 
-file(
-    GLOB_RECURSE SOURCES_FILES
-        "${PROJECT_SOURCE_DIR}/src/cpp/tool/*.cpp"
-        "${PROJECT_SOURCE_DIR}/src/cpp/user_interface/*.cpp"
-        "${PROJECT_SOURCE_DIR}/src/cpp/main.cpp"
-        "${PROJECT_SOURCE_DIR}/src/cpp/command_receiver/Command*.cpp"
-        "${PROJECT_SOURCE_DIR}/src/cpp/*/*/*/*.cxx"
-    )
-
 compile_tool(
     "${PROJECT_SOURCE_DIR}/src/cpp/" # Source directory
-    "${SOURCES_FILES}"
 )
 
 compile_test_tool("${PROJECT_SOURCE_DIR}/test/")

ddsrecorder/project_settings.cmake

@@ -58,6 +58,7 @@ set(MODULE_THIRDPARTY_HEADERONLY
     mcap
     nlohmann-json
     optionparser
+    sqlite # Not header-only though, need to link .c
     )
 
 set(MODULE_THIRDPARTY_PATH

ddsrecorder/src/cpp/main.cpp

@@ -261,6 +261,8 @@ int main(
 
         // Load configuration from YAML
         eprosima::ddsrecorder::yaml::RecorderConfiguration configuration(commandline_args.file_path, &commandline_args);
+        // Flag to avoid reloading configuration in the first iteration of enable_remote_controller loop
+        bool config_loaded = true;
 
         /////
         // Logging
@@ -297,7 +299,8 @@ int main(
         logUser(DDSRECORDER_EXECUTION, "DDS Recorder running.");
 
         // The file tracker must be stored outside of the loop since it is shared between instances
-        std::shared_ptr<eprosima::ddsrecorder::participants::FileTracker> file_tracker;
+        std::shared_ptr<eprosima::ddsrecorder::participants::FileTracker> mcap_file_tracker;
+        std::shared_ptr<eprosima::ddsrecorder::participants::FileTracker> sql_file_tracker;
 
         if (configuration.enable_remote_controller)
         {
@@ -344,7 +347,8 @@ int main(
                     {
                         // Save the set of output files from being overwritten.
                         // WARNING: If set, the resource-limits won't be consistent after stopping the DDS Recorder.
-                        file_tracker.reset();
+                        mcap_file_tracker.reset();
+                        sql_file_tracker.reset();
                     }
 
                     prev_command = CommandCode::stop;
@@ -402,11 +406,18 @@ int main(
 
                 // Reload YAML configuration file, in case it changed during STOPPED state
                 // NOTE: Changes to all (but controller specific) recorder configuration options are taken into account
-                configuration = eprosima::ddsrecorder::yaml::RecorderConfiguration(commandline_args.file_path);
+                if(!config_loaded)
+                {
+                    configuration = eprosima::ddsrecorder::yaml::RecorderConfiguration(commandline_args.file_path);
+                }
+                else
+                {
+                    config_loaded = false;
+                }
 
                 // Create DDS Recorder
                 auto recorder = std::make_unique<DdsRecorder>(
-                    configuration, initial_state, close_handler, file_tracker);
+                    configuration, initial_state, close_handler, mcap_file_tracker, sql_file_tracker);
 
                 // Create File Watcher Handler
                 std::unique_ptr<eprosima::utils::event::FileWatcherHandler> file_watcher_handler;
@@ -540,7 +551,7 @@ int main(
         {
             // Start recording right away
             auto recorder = std::make_unique<DdsRecorder>(
-                configuration, DdsRecorderState::RUNNING, close_handler, file_tracker);
+                configuration, DdsRecorderState::RUNNING, close_handler, mcap_file_tracker, sql_file_tracker);
 
             // Create File Watcher Handler
             std::unique_ptr<eprosima::utils::event::FileWatcherHandler> file_watcher_handler;