From ae57953a7c5d57bac5abbe25df3e7a3423edbb02 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 5 Jun 2024 23:59:39 +0200
Subject: [PATCH] add active suffix in the individual storage plugins

---
 .../rosbag2_cpp/writers/sequential_writer.cpp | 27 +------------------
 rosbag2_storage_mcap/src/mcap_storage.cpp     |  4 ++-
 .../sqlite_storage.cpp                        |  9 +++++--
 3 files changed, 11 insertions(+), 29 deletions(-)

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
index 3001db9ac..a058a2073 100644
--- a/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
+++ b/rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp
@@ -47,19 +47,6 @@ std::string strip_parent_path(const std::string & relative_path)
 {
   return fs::path(relative_path).filename().generic_string();
 }
-
-std::string remove_active_from_filename(const std::string& relative_path)
-{
-  fs::path path(relative_path);
-  auto filename = path.filename().string();
-  auto active_pos = filename.find(".active");
-  if(active_pos != std::string::npos) {
-    filename.replace(active_pos, 7, "");
-  }
-  auto new_path = path.parent_path() / filename;
-  return new_path.string();
-}
-
 }  // namespace
 
 SequentialWriter::SequentialWriter(
@@ -203,11 +190,7 @@ void SequentialWriter::close()
   }
 
   if (storage_) {
-    // when the storage_ is closed, rename the file to remove ".active" suffix
-    std::string active_path = storage_->get_relative_file_path();
-    std::string final_path = remove_active_from_filename(active_path);
     storage_.reset();  // Destroy storage before calling WRITE_SPLIT callback to make sure that
-    fs::rename(active_path, final_path);
     // bag file was closed before callback call.
   }
   if (!metadata_.relative_file_paths.empty()) {
@@ -326,7 +309,7 @@ std::string SequentialWriter::format_storage_uri(
   // SequentialWriter is opened with a relative path.
   std::stringstream storage_file_name;
   storage_file_name << fs::path(base_folder).filename().generic_string() << "_" <<
-    storage_count << ".active";
+    storage_count;
 
   return (fs::path(base_folder) / storage_file_name.str()).generic_string();
 }
@@ -343,15 +326,7 @@ void SequentialWriter::switch_to_next_storage()
   storage_options_.uri = format_storage_uri(
     base_folder_,
     metadata_.relative_file_paths.size());
-  
-  // when the storage_ is closed, rename the file to remove ".active" suffix
-  std::string active_path = storage_->get_relative_file_path();
-  std::string final_path = remove_active_from_filename(active_path);
-
   storage_ = storage_factory_->open_read_write(storage_options_);
-  
-  std::filesystem::rename(active_path, final_path);
-
   if (!storage_) {
     std::stringstream errmsg;
     errmsg << "Failed to rollover bagfile to new file: \"" << storage_options_.uri << "\"!";
diff --git a/rosbag2_storage_mcap/src/mcap_storage.cpp b/rosbag2_storage_mcap/src/mcap_storage.cpp
index cbade144c..ce9f7c9c3 100644
--- a/rosbag2_storage_mcap/src/mcap_storage.cpp
+++ b/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);
       }
diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
index 4ce1e98c4..f2c796ab9 100644
--- a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -157,6 +157,10 @@ 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 +214,10 @@ 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()));
   }