Add unit test to make sure that snapshot writing in the new file

Co-authored-by: Clemens Mühlbacher <[email protected]>
Signed-off-by: Michael Orlov <[email protected]>

rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp

@@ -580,6 +580,91 @@ TEST_F(SequentialWriterTest, snapshot_mode_zero_cache_size_throws_exception)
   EXPECT_THROW(writer_->open(storage_options_, {rmw_format, rmw_format}), std::runtime_error);
 }
 
+TEST_F(SequentialWriterTest, snapshot_writes_with_splitting)
+{
+  storage_options_.max_bagfile_size = 0;
+  storage_options_.max_cache_size = 200;
+  storage_options_.snapshot_mode = true;
+
+  // Expect a single write call when the snapshot is triggered
+  EXPECT_CALL(
+    *storage_, write(
+    An<const std::vector<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>> &>())
+  ).Times(1);
+
+  ON_CALL(
+    *storage_,
+    write(An<std::shared_ptr<const rosbag2_storage::SerializedBagMessage>>())).WillByDefault(
+    [this](std::shared_ptr<const rosbag2_storage::SerializedBagMessage>) {
+      fake_storage_size_ += 1;
+    });
+
+  ON_CALL(*storage_, get_bagfile_size).WillByDefault(
+    [this]() {
+      return fake_storage_size_.load();
+    });
+
+  ON_CALL(*metadata_io_, write_metadata).WillByDefault(
+    [this](const std::string &, const rosbag2_storage::BagMetadata & metadata) {
+      fake_metadata_ = metadata;
+    });
+
+  ON_CALL(*storage_, get_relative_file_path).WillByDefault(
+    [this]() {
+      return fake_storage_uri_;
+    });
+
+  auto sequential_writer = std::make_unique<rosbag2_cpp::writers::SequentialWriter>(
+    std::move(storage_factory_), converter_factory_, std::move(metadata_io_));
+  writer_ = std::make_unique<rosbag2_cpp::Writer>(std::move(sequential_writer));
+
+  std::vector<std::string> closed_files;
+  std::vector<std::string> opened_files;
+  rosbag2_cpp::bag_events::WriterEventCallbacks callbacks;
+  callbacks.write_split_callback =
+    [&closed_files, &opened_files](rosbag2_cpp::bag_events::BagSplitInfo & info) {
+      closed_files.emplace_back(info.closed_file);
+      opened_files.emplace_back(info.opened_file);
+    };
+  writer_->add_event_callbacks(callbacks);
+
+  std::string rmw_format = "rmw_format";
+
+  std::string msg_content = "Hello";
+  auto msg_length = msg_content.length();
+  auto message = std::make_shared<rosbag2_storage::SerializedBagMessage>();
+  message->topic_name = "test_topic";
+  message->serialized_data =
+    rosbag2_storage::make_serialized_message(msg_content.c_str(), msg_length);
+
+  writer_->open(storage_options_, {rmw_format, rmw_format});
+  writer_->create_topic({0u, "test_topic", "test_msgs/BasicTypes", "", {}, ""});
+
+  for (size_t i = 0; i < 100; i++) {
+    writer_->write(message);
+  }
+  writer_->take_snapshot();
+
+  EXPECT_THAT(closed_files.size(), 1);
+  EXPECT_THAT(opened_files.size(), 1);
+
+  if (!((closed_files.size() == opened_files.size()) && (opened_files.size() == 1))) {
+    // Output debug info
+    for (size_t i = 0; i < opened_files.size(); i++) {
+      std::cout << "opened_file[" << i << "] = '" << opened_files[i] <<
+        "'; closed_file[" << i << "] = '" << closed_files[i] << "';" << std::endl;
+    }
+  }
+
+  ASSERT_EQ(opened_files.size(), 1);
+  ASSERT_EQ(closed_files.size(), 1);
+
+  auto expected_closed = fs::path(storage_options_.uri) / (bag_base_dir_ + "_0");
+  auto expected_opened = fs::path(storage_options_.uri) / (bag_base_dir_ + "_1");
+  ASSERT_STREQ(closed_files[0].c_str(), expected_closed.generic_string().c_str());
+  ASSERT_STREQ(opened_files[0].c_str(), expected_opened.generic_string().c_str());
+}
+
 TEST_F(SequentialWriterTest, split_event_calls_callback)
 {
   const uint64_t max_bagfile_size = 3;