feat: rework of recorder

Author: nomanfound

examples/CMakeLists.txt

@@ -76,6 +76,7 @@ if (ENABLE_TOPIC_DISCOVERY)
 endif ()
 
 add_subdirectory(helloworld)
+add_subdirectory(recorder_and_replayer)
 add_subdirectory(roundtrip)
 add_subdirectory(throughput)
 if (ENABLE_TOPIC_DISCOVERY)

examples/recorder_and_replayer/CMakeLists.txt

@@ -0,0 +1,56 @@
+# Copyright(c) 2023 ZettaScale Technology and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+cmake_minimum_required(VERSION 3.16)
+project(recorder_replayer LANGUAGES C CXX)
+
+include(FetchContent)
+
+# Prevent subprojects (like mcap_builder) from attempting to find lz4/zstd
+set(CMAKE_DISABLE_FIND_PACKAGE_lz4 TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_zstd TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_LZ4 TRUE)
+set(CMAKE_DISABLE_FIND_PACKAGE_ZSTD TRUE)
+
+FetchContent_Declare(
+  mcap_builder
+  GIT_REPOSITORY https://github.com/olympus-robotics/mcap_builder.git
+  GIT_TAG main
+)
+FetchContent_MakeAvailable(mcap_builder)
+
+if(NOT TARGET CycloneDDS::ddsc)
+  find_package(CycloneDDS REQUIRED)
+endif()
+
+add_library(dds_topic_descriptor_serde STATIC dds_topic_descriptor_serde.c)
+if(TARGET CycloneDDS::ddsc)
+  # we need dds_stream_countops()
+  target_include_directories(dds_topic_descriptor_serde
+    PRIVATE
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include")
+endif()
+target_include_directories(dds_topic_descriptor_serde PUBLIC .)
+
+target_link_libraries(dds_topic_descriptor_serde PRIVATE CycloneDDS::ddsc)
+
+add_executable(recorder dds_recorder.cpp)
+
+# add_executable(replayer dds_replayer.cpp)
+
+if(TARGET CycloneDDS::ddsc)
+  target_include_directories(recorder
+    PRIVATE
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsi/include")
+endif()
+target_link_libraries(recorder CycloneDDS::ddsc dds_topic_descriptor_serde mcap)
+target_compile_definitions(recorder PUBLIC "MCAP_COMPRESSION_NO_ZSTD")
+target_compile_definitions(recorder PUBLIC "MCAP_COMPRESSION_NO_LZ4")