Add ".active" suffix to actively recording files

rosbag2_storage_mcap/src/mcap_storage.cpp

@@ -42,6 +42,7 @@
 
 #include <algorithm>
 #include <cstring>
+#include <filesystem>
 #include <memory>
 #include <mutex>
 #include <optional>
@@ -316,6 +317,7 @@ MCAPStorage::~MCAPStorage()
   }
   if (mcap_writer_) {
     mcap_writer_->close();
+    std::filesystem::rename(relative_path_ + ".active", relative_path_);
   }
 }
 
@@ -400,7 +402,7 @@ void MCAPStorage::open_impl(const std::string & uri, const std::string & preset_
         YAML::convert<McapWriterOptions>::decode(yaml_node, options);
       }
 
-      auto status = mcap_writer_->open(relative_path_, options);
+      auto status = mcap_writer_->open(relative_path_ + ".active", options);
       if (!status.ok()) {
         throw std::runtime_error(status.message);
       }

rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp

@@ -257,7 +257,6 @@ TEST_F(TemporaryDirectoryFixture, can_write_and_read_basic_mcap_file)
 TEST_F(TemporaryDirectoryFixture, can_write_mcap_with_zstd_configured_from_yaml)
 {
   auto uri = std::filesystem::path(temporary_dir_path_) / "bag";
-  auto expected_bag = std::filesystem::path(temporary_dir_path_) / "bag.mcap";
   const int64_t timestamp_nanos = 100;  // arbitrary value
   rcutils_time_point_value_t time_stamp{timestamp_nanos};
   const std::string topic_name = "test_topic";
@@ -269,6 +268,7 @@ TEST_F(TemporaryDirectoryFixture, can_write_mcap_with_zstd_configured_from_yaml)
   rclcpp::Serialization<std_msgs::msg::String> serialization;
 
   {
+    auto expected_bag = std::filesystem::path(temporary_dir_path_) / "bag.mcap.active";
     rosbag2_storage::StorageOptions options;
     options.uri = uri.generic_string();
     options.storage_id = storage_id;
@@ -302,6 +302,7 @@ TEST_F(TemporaryDirectoryFixture, can_write_mcap_with_zstd_configured_from_yaml)
     EXPECT_TRUE(std::filesystem::is_regular_file(expected_bag));
   }
   {
+    auto expected_bag = std::filesystem::path(temporary_dir_path_) / "bag.mcap";
     rosbag2_storage::StorageOptions options;
     options.uri = expected_bag.generic_string();
     options.storage_id = storage_id;

rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp

@@ -157,6 +157,9 @@ SqliteStorage::~SqliteStorage()
   if (active_transaction_) {
     commit_transaction();
   }
+  if (is_read_write(storage_mode_) && database_) {
+    std::filesystem::rename(relative_path_ + ".active", relative_path_);
+  }
 }
 
 SqliteStorage::PresetProfile SqliteStorage::parse_preset_profile(const std::string & profile_string)
@@ -210,9 +213,10 @@ void SqliteStorage::open(
               "Failed to read from bag: File '" + relative_path_ + "' does not exist!");
     }
   }
+  std::string path = is_read_write(io_flag) ? (relative_path_ + ".active") : relative_path_;
 
   try {
-    database_ = std::make_unique<SqliteWrapper>(relative_path_, io_flag, std::move(pragmas));
+    database_ = std::make_unique<SqliteWrapper>(path, io_flag, std::move(pragmas));
   } catch (const SqliteException & e) {
     throw std::runtime_error("Failed to setup storage. Error: " + std::string(e.what()));
   }

rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp

@@ -261,7 +261,7 @@ TEST_F(StorageTestFixture, get_metadata_returns_correct_struct) {
 
   const auto readable_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
   const auto db_filename =
-    (std::filesystem::path(temporary_dir_path_) / "rosbag.db3").generic_string();
+    (std::filesystem::path(temporary_dir_path_) / "rosbag.db3.active").generic_string();
 
   readable_storage->open(
     {db_filename, kPluginID},
@@ -447,26 +447,32 @@ TEST_F(StorageTestFixture, get_relative_file_path_returns_db_name_with_ext) {
   const auto read_write_filename =
     (std::filesystem::path(temporary_dir_path_) / "rosbag").generic_string();
   const auto storage_filename = read_write_filename + ".db3";
-  const auto read_write_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
-  read_write_storage->open(
-    {read_write_filename, kPluginID},
-    rosbag2_storage::storage_interfaces::IOFlag::READ_WRITE);
-  EXPECT_EQ(read_write_storage->get_relative_file_path(), storage_filename);
-
-  // READ_ONLY expects uri to be the relative file path to the sqlite3 db.
-  const auto & read_only_filename = storage_filename;
-  const auto read_only_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
-  read_only_storage->open(
-    {read_only_filename, kPluginID},
-    rosbag2_storage::storage_interfaces::IOFlag::READ_ONLY);
-  EXPECT_EQ(read_only_storage->get_relative_file_path(), storage_filename);
-
-  const auto & append_filename = storage_filename;
-  const auto append_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
-  append_storage->open(
-    {append_filename, kPluginID},
-    rosbag2_storage::storage_interfaces::IOFlag::APPEND);
-  EXPECT_EQ(append_storage->get_relative_file_path(), storage_filename);
+  {
+    const auto read_write_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
+    read_write_storage->open(
+      {read_write_filename, kPluginID},
+      rosbag2_storage::storage_interfaces::IOFlag::READ_WRITE);
+    EXPECT_EQ(read_write_storage->get_relative_file_path(), storage_filename);
+  }
+
+  {
+    // READ_ONLY expects uri to be the relative file path to the sqlite3 db.
+    const auto & read_only_filename = storage_filename;
+    const auto read_only_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
+    read_only_storage->open(
+      {read_only_filename, kPluginID},
+      rosbag2_storage::storage_interfaces::IOFlag::READ_ONLY);
+    EXPECT_EQ(read_only_storage->get_relative_file_path(), storage_filename);
+  }
+
+  {
+    const auto & append_filename = storage_filename;
+    const auto append_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
+    append_storage->open(
+      {append_filename, kPluginID},
+      rosbag2_storage::storage_interfaces::IOFlag::APPEND);
+    EXPECT_EQ(append_storage->get_relative_file_path(), storage_filename);
+  }
 }
 
 TEST_F(StorageTestFixture, loads_config_file) {

rosbag2_tests/test/rosbag2_tests/record_fixture.hpp

@@ -131,7 +131,8 @@ class RecordFixture : public ParametrizedTemporaryDirectoryFixture
 
   void wait_for_storage_file(std::chrono::duration<float> timeout = std::chrono::seconds(10))
   {
-    const auto storage_path = get_bag_file_path(0);
+    auto storage_path = get_bag_file_path(0);
+    storage_path += ".active";
     const auto start_time = std::chrono::steady_clock::now();
     while (std::chrono::steady_clock::now() - start_time < timeout && rclcpp::ok()) {
       if (std::filesystem::exists(storage_path)) {

rosbag2_tests/test/rosbag2_tests/test_rosbag2_storage_api.cpp

@@ -120,7 +120,7 @@ class Rosbag2StorageAPITests : public rosbag2_test_common::ParametrizedTemporary
 
 TEST_P(Rosbag2StorageAPITests, get_bagfile_size_read_write_interface)
 {
-  const std::string FILE_EXTENSION = (GetParam() == "mcap") ? ".mcap" : ".db3";
+  const std::string FILE_EXTENSION = (GetParam() == "mcap") ? ".mcap.active" : ".db3.active";
   fs::path full_bagfile_path = root_bag_path_;
   full_bagfile_path.replace_extension(FILE_EXTENSION);
 

rosbag2_transport/test/rosbag2_transport/test_composable_recorder.cpp

@@ -73,7 +73,8 @@ class ComposableRecorderIntegrationTests : public CompositionManagerTestFixture
 
   void wait_for_storage_file(std::chrono::duration<float> timeout = std::chrono::seconds(10))
   {
-    const auto storage_path = get_bag_file_path(0);
+    auto storage_path = get_bag_file_path(0);
+    storage_path += ".active";
     const auto start_time = std::chrono::steady_clock::now();
     while (std::chrono::steady_clock::now() - start_time < timeout && rclcpp::ok()) {
       if (fs::exists(storage_path)) {