Add play-for functionality (ros2#960)

* Add play-for functionality Signed-off-by: Geoffrey Biggs <[email protected]> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <[email protected]> * Solves most of the comments from https://github.com/ros2/rosbag2/pull/960/files (ros2#14) * Add play-for functionality Signed-off-by: Geoffrey Biggs <[email protected]> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <[email protected]> * Adds playback_duration to PlayOptions. * Changes from PlayFor to Play srv message and changes start_offset and playback_duration. * Restores play_for tests. * Removes extra SubscriptionManager methods. * Solves comment about extra sent message. * Reorders code and comment. * Removes the SKIP_TEST flag. Co-authored-by: Geoffrey Biggs <[email protected]> Signed-off-by: Geoffrey Biggs <[email protected]> * Second round of comments from ros2#960 upstream (ros2#15) * Removes duration parameter. A leftover after switching to playback_duration. * Fixes comment. * Solves format in rosbag2_py -> _transport.cpp * Applies style suggestions. * Changes play() to return a boolean indicating whether the request could be fulfilled. * Removes extra unnecessary code. Signed-off-by: Geoffrey Biggs <[email protected]> * Updates test execution time for ros2/rosbag2#960 (ros2#16) * Adresses reviewer's comments. * Improve test time by adding an optional argument to SubscriptionManager::spin_subscriptions() - Reduces test_play_for execution time from 50s to 6s approximately. Signed-off-by: Geoffrey Biggs <[email protected]> * Redesign tests in test_play_for.cpp (ros2#17) * Redesigned tests to be more deterministic and running faster * Fixed bug in `play_for()` flow when replaying in loop or multiple times from the same player instance. Signed-off-by: Michael Orlov <[email protected]> Signed-off-by: Geoffrey Biggs <[email protected]> * Remove unnecessary source file from test binary Signed-off-by: Geoffrey Biggs <[email protected]> * Correct errors introduced by rebase Signed-off-by: Geoffrey Biggs <[email protected]> * Correct play_next behaviour Signed-off-by: Geoffrey Biggs <[email protected]> Co-authored-by: Agustin Alba Chicar <[email protected]> Co-authored-by: Michael Orlov <[email protected]>
DensoADAS · Jun 2, 2022 · ccafe85 · ccafe85
1 parent d97e291
commit ccafe85
Show file tree

Hide file tree

Showing 9 changed files with 409 additions and 6 deletions.
diff --git a/ros2bag/ros2bag/verb/play.py b/ros2bag/ros2bag/verb/play.py
@@ -85,6 +85,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
         parser.add_argument(
             '-d', '--delay', type=positive_float, default=0.0,
             help='Sleep duration before play (each loop), in seconds. Negative durations invalid.')
+        parser.add_argument(
+            '--playback_duration', type=float, default=-1.0,
+            help='Playback duration, in seconds. Negative durations mark an infinite playback. '
+                 'Default is -1.0.')
         parser.add_argument(
             '--disable-keyboard-controls', action='store_true',
             help='disables keyboard controls for playback')
@@ -111,6 +115,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
                  'By default, if loaned message can be used, messages are published as loaned '
                  'message. It can help to reduce the number of data copies, so there is a greater '
                  'benefit for sending big data.')
+        parser.add_argument(
+            '-f', '--duration', type=float, default=None,
+            help='Play for SEC seconds. Default is None, meaning that playback will continue '
+                 'until the end of the bag. Valid range > 0.0')
 
     def main(self, *, args):  # noqa: D102
         qos_profile_overrides = {}  # Specify a valid default
@@ -146,6 +154,7 @@ def main(self, *, args):  # noqa: D102
         play_options.topic_remapping_options = topic_remapping
         play_options.clock_publish_frequency = args.clock
         play_options.delay = args.delay
+        play_options.playback_duration = args.playback_duration
         play_options.disable_keyboard_controls = args.disable_keyboard_controls
         play_options.start_paused = args.start_paused
         play_options.start_offset = args.start_offset

diff --git a/rosbag2_interfaces/CMakeLists.txt b/rosbag2_interfaces/CMakeLists.txt
@@ -17,6 +17,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetRate.srv"
   "srv/IsPaused.srv"
   "srv/Pause.srv"
+  "srv/Play.srv"
   "srv/PlayNext.srv"
   "srv/Resume.srv"
   "srv/Seek.srv"

diff --git a/rosbag2_interfaces/srv/Play.srv b/rosbag2_interfaces/srv/Play.srv
@@ -0,0 +1,7 @@
+# See rosbag2_transport::PlayOptions::start_offset
+builtin_interfaces/Time start_offset
+# See rosbag2_transport::PlayOptions::playback_duration
+builtin_interfaces/Duration playback_duration
+---
+# returns false when another playback execution is running, otherwise true
+bool success
diff --git a/rosbag2_py/src/rosbag2_py/_transport.cpp b/rosbag2_py/src/rosbag2_py/_transport.cpp
@@ -69,6 +69,17 @@ struct OptionsWrapper : public T
       static_cast<rcl_duration_value_t>(RCUTILS_S_TO_NS(delay)));
   }
 
+  double getPlaybackDuration() const
+  {
+    return RCUTILS_NS_TO_S(static_cast<double>(this->playback_duration.nanoseconds()));
+  }
+
+  void setPlaybackDuration(double playback_duration)
+  {
+    this->playback_duration = rclcpp::Duration::from_nanoseconds(
+      static_cast<rcl_duration_value_t>(RCUTILS_S_TO_NS(playback_duration)));
+  }
+
   double getDelay() const
   {
     return RCUTILS_NS_TO_S(static_cast<double>(this->delay.nanoseconds()));
@@ -241,6 +252,10 @@ PYBIND11_MODULE(_transport, m) {
     "delay",
     &PlayOptions::getDelay,
     &PlayOptions::setDelay)
+  .def_property(
+    "playback_duration",
+    &PlayOptions::getPlaybackDuration,
+    &PlayOptions::setPlaybackDuration)
   .def_readwrite("disable_keyboard_controls", &PlayOptions::disable_keyboard_controls)
   .def_readwrite("start_paused", &PlayOptions::start_paused)
   .def_property(
@@ -278,7 +293,7 @@ PYBIND11_MODULE(_transport, m) {
 
   py::class_<rosbag2_py::Player>(m, "Player")
   .def(py::init())
-  .def("play", &rosbag2_py::Player::play)
+  .def("play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg("play_options"))
   ;
 
   py::class_<rosbag2_py::Recorder>(m, "Recorder")

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
@@ -110,6 +110,12 @@ function(create_tests_for_rmw_implementation)
     AMENT_DEPS test_msgs rosbag2_test_common
     ${SKIP_TEST})
 
+  rosbag2_transport_add_gmock(test_play_for
+    test/rosbag2_transport/test_play_for.cpp
+    INCLUDE_DIRS $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/rosbag2_transport>
+    LINK_LIBS rosbag2_transport
+    AMENT_DEPS test_msgs rosbag2_test_common)
+
   rosbag2_transport_add_gmock(test_play_loop
     test/rosbag2_transport/test_play_loop.cpp
     LINK_LIBS rosbag2_transport

diff --git a/rosbag2_transport/include/rosbag2_transport/play_options.hpp b/rosbag2_transport/include/rosbag2_transport/play_options.hpp
@@ -50,6 +50,10 @@ struct PlayOptions
   // Sleep before play. Negative durations invalid. Will delay at the beginning of each loop.
   rclcpp::Duration delay = rclcpp::Duration(0, 0);
 
+  // Determines the maximum duration of the playback. Negative durations will make the playback to
+  // not stop. Default configuration makes the player to not stop execution.
+  rclcpp::Duration playback_duration = rclcpp::Duration(-1, 0);
+
   // Start paused.
   bool start_paused = false;
 

diff --git a/rosbag2_transport/include/rosbag2_transport/player.hpp b/rosbag2_transport/include/rosbag2_transport/player.hpp
@@ -19,6 +19,7 @@
 #include <functional>
 #include <future>
 #include <memory>
+#include <optional>
 #include <queue>
 #include <string>
 #include <unordered_map>
@@ -37,6 +38,7 @@
 #include "rosbag2_interfaces/srv/get_rate.hpp"
 #include "rosbag2_interfaces/srv/is_paused.hpp"
 #include "rosbag2_interfaces/srv/pause.hpp"
+#include "rosbag2_interfaces/srv/play.hpp"
 #include "rosbag2_interfaces/srv/play_next.hpp"
 #include "rosbag2_interfaces/srv/burst.hpp"
 #include "rosbag2_interfaces/srv/resume.hpp"
@@ -94,7 +96,7 @@ class Player : public rclcpp::Node
   virtual ~Player();
 
   ROSBAG2_TRANSPORT_PUBLIC
-  void play();
+  bool play();
 
   // Playback control interface
   /// Pause the flow of time for playback.
@@ -218,14 +220,17 @@ class Player : public rclcpp::Node
 
   rosbag2_storage::StorageOptions storage_options_;
   rosbag2_transport::PlayOptions play_options_;
+  rcutils_time_point_value_t play_until_time_ = -1;
   moodycamel::ReaderWriterQueue<rosbag2_storage::SerializedBagMessageSharedPtr> message_queue_;
   mutable std::future<void> storage_loading_future_;
+  std::atomic_bool load_storage_content_{true};
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides_;
   std::unique_ptr<rosbag2_cpp::PlayerClock> clock_;
   std::shared_ptr<rclcpp::TimerBase> clock_publish_timer_;
   std::mutex skip_message_in_main_play_loop_mutex_;
   bool skip_message_in_main_play_loop_ RCPPUTILS_TSA_GUARDED_BY(
     skip_message_in_main_play_loop_mutex_) = false;
+  std::atomic_bool is_in_playback_{false};
 
   rcutils_time_point_value_t starting_time_;
 
@@ -236,6 +241,7 @@ class Player : public rclcpp::Node
   rclcpp::Service<rosbag2_interfaces::srv::IsPaused>::SharedPtr srv_is_paused_;
   rclcpp::Service<rosbag2_interfaces::srv::GetRate>::SharedPtr srv_get_rate_;
   rclcpp::Service<rosbag2_interfaces::srv::SetRate>::SharedPtr srv_set_rate_;
+  rclcpp::Service<rosbag2_interfaces::srv::Play>::SharedPtr srv_play_;
   rclcpp::Service<rosbag2_interfaces::srv::PlayNext>::SharedPtr srv_play_next_;
   rclcpp::Service<rosbag2_interfaces::srv::Burst>::SharedPtr srv_burst_;
   rclcpp::Service<rosbag2_interfaces::srv::Seek>::SharedPtr srv_seek_;

diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -159,6 +159,10 @@ Player::Player(
     set_rate(play_options_.rate);
     topic_qos_profile_overrides_ = play_options_.topic_qos_profile_overrides;
     prepare_publishers();
+
+    if (play_options_.playback_duration >= rclcpp::Duration(0, 0)) {
+      play_until_time_ = starting_time_ + play_options_.playback_duration.nanoseconds();
+    }
   }
   create_control_services();
   add_keyboard_callbacks();
@@ -191,8 +195,13 @@ bool Player::is_storage_completely_loaded() const
   return !storage_loading_future_.valid();
 }
 
-void Player::play()
+bool Player::play()
 {
+  if (is_in_playback_.exchange(true)) {
+    RCLCPP_WARN_STREAM(get_logger(), "Trying to play() while in playback, dismissing request.");
+    return false;
+  }
+
   rclcpp::Duration delay(0, 0);
   if (play_options_.delay >= rclcpp::Duration(0, 0)) {
     delay = play_options_.delay;
@@ -202,21 +211,28 @@ void Player::play()
       "Invalid delay value: " << play_options_.delay.nanoseconds() << ". Delay is disabled.");
   }
 
+  RCLCPP_INFO_STREAM(get_logger(), "Playback duration value: " << play_until_time_);
+
   try {
     do {
       if (delay > rclcpp::Duration(0, 0)) {
         RCLCPP_INFO_STREAM(get_logger(), "Sleep " << delay.nanoseconds() << " ns");
-        std::chrono::nanoseconds duration(delay.nanoseconds());
-        std::this_thread::sleep_for(duration);
+        std::chrono::nanoseconds delay_duration(delay.nanoseconds());
+        std::this_thread::sleep_for(delay_duration);
       }
       {
         std::lock_guard<std::mutex> lk(reader_mutex_);
         reader_->seek(starting_time_);
         clock_->jump(starting_time_);
       }
+      load_storage_content_ = true;
       storage_loading_future_ = std::async(std::launch::async, [this]() {load_storage_content();});
       wait_for_filled_queue();
       play_messages_from_queue();
+
+      load_storage_content_ = false;
+      if (storage_loading_future_.valid()) {storage_loading_future_.get();}
+      while (message_queue_.pop()) {}   // cleanup queue
       {
         std::lock_guard<std::mutex> lk(ready_to_play_from_queue_mutex_);
         is_ready_to_play_from_queue_ = false;
@@ -225,6 +241,9 @@ void Player::play()
     } while (rclcpp::ok() && play_options_.loop);
   } catch (std::runtime_error & e) {
     RCLCPP_ERROR(get_logger(), "Failed to play: %s", e.what());
+    load_storage_content_ = false;
+    if (storage_loading_future_.valid()) {storage_loading_future_.get();}
+    while (message_queue_.pop()) {}   // cleanup queue
   }
   std::lock_guard<std::mutex> lk(ready_to_play_from_queue_mutex_);
   is_ready_to_play_from_queue_ = false;
@@ -254,6 +273,9 @@ void Player::play()
       }
     }
   }
+
+  is_in_playback_ = false;
+  return true;
 }
 
 void Player::pause()
@@ -344,6 +366,9 @@ bool Player::play_next()
 
   bool next_message_published = false;
   while (message_ptr != nullptr && !next_message_published) {
+    if (play_until_time_ >= starting_time_ && message_ptr->time_stamp > play_until_time_) {
+      break;
+    }
     {
       next_message_published = publish_message(message_ptr);
       clock_->jump(message_ptr->time_stamp);
@@ -395,6 +420,7 @@ void Player::seek(rcutils_time_point_value_t time_point)
     // Restart queuing thread if it has finished running (previously reached end of bag),
     // otherwise, queueing should continue automatically after releasing mutex
     if (is_storage_completely_loaded() && rclcpp::ok()) {
+      load_storage_content_ = true;
       storage_loading_future_ =
         std::async(std::launch::async, [this]() {load_storage_content();});
     }
@@ -417,7 +443,7 @@ void Player::load_storage_content()
     static_cast<size_t>(play_options_.read_ahead_queue_size * read_ahead_lower_bound_percentage_);
   auto queue_upper_boundary = play_options_.read_ahead_queue_size;
 
-  while (rclcpp::ok()) {
+  while (rclcpp::ok() && load_storage_content_) {
     TSAUniqueLock lk(reader_mutex_);
     if (!reader_->has_next()) {break;}
 
@@ -456,6 +482,9 @@ void Player::play_messages_from_queue()
     ready_to_play_from_queue_cv_.notify_all();
   }
   while (message_ptr != nullptr && rclcpp::ok()) {
+    if (play_until_time_ >= starting_time_ && message_ptr->time_stamp > play_until_time_) {
+      break;
+    }
     // Do not move on until sleep_until returns true
     // It will always sleep, so this is not a tight busy loop on pause
     while (rclcpp::ok() && !clock_->sleep_until(message_ptr->time_stamp)) {
@@ -678,6 +707,16 @@ void Player::create_control_services()
     {
       response->success = set_rate(request->rate);
     });
+  srv_play_ = create_service<rosbag2_interfaces::srv::Play>(
+    "~/play",
+    [this](
+      rosbag2_interfaces::srv::Play::Request::ConstSharedPtr request,
+      rosbag2_interfaces::srv::Play::Response::SharedPtr response)
+    {
+      play_options_.start_offset = rclcpp::Time(request->start_offset).nanoseconds();
+      play_options_.playback_duration = rclcpp::Duration(request->playback_duration);
+      response->success = play();
+    });
   srv_play_next_ = create_service<rosbag2_interfaces::srv::PlayNext>(
     "~/play_next",
     [this](