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  Learn about vigilant mode

james-rms tagged this 26 Feb 03:42

### Changelog- Fixed: fixed a bug where when writing messages using`mcap::Writer::write(&Message{...})`, introduced in #1297 . Writingmessages on separate channels with identical channel data would causechannel data for some channels not to be written to the MCAP, resultingin an invalid MCAP.### DocsNone.### DescriptionMCAP as specified allows a 1:N relationship between channel content andchannel IDs. This is intentional - there may be multiple sourcespublishing the exact same topic, and the output MCAP can and shouldcontain one channel per publisher, not per topic.#1297 introduced the use of a bimap to track the relationship betweenchannel / schema IDs and their content. however, I overlooked at thetime a key constraint of the bimap implementation, in that all values onthe left and right side are unique.This means it could not track multiple identical channels or schemaswith the same ID. This PR introduces an additional (u16, u16) map forchannels and schemas which tracks the mapping of all IDs to their"canonical" IDs in the bimap. This allows us to track the presence ofmultiple records with the same content but different IDs, while alsopreserving the quick lookups that the bimap was introduced for.<!-- Describe the problem, what has changed, and motivation behind thosechanges. Pretend you are advocating for this change and the reader isskeptical. --><!-- In addition to unit tests, describe any manual testing you did tovalidate this change. --><table><tr><th>Before</th><th>After</th></tr><tr><td><!--before content goes here--></td><td><!--after content goes here--></td></tr></table><!-- If necessary, link relevant Linear or Github issues. Use `Fixes:foxglove/repo#1234` to auto-close the Github issue or Fixes: FG-### forLinear isses. -->