Second round of comments from ros2#960 upstream (#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]>

ros2bag/ros2bag/verb/play.py

@@ -161,9 +161,5 @@ def main(self, *, args):  # noqa: D102
         play_options.wait_acked_timeout = args.wait_for_all_acked
         play_options.disable_loan_message = args.disable_loan_message
 
-        # Gets the duration in nanoseconds when a value is provided for player
-        # consumption.
-        duration = int(args.duration * 1e9) if args.duration else args.duration
-
         player = Player()
-        player.play(storage_options, play_options, duration)
+        player.play(storage_options, play_options)

rosbag2_interfaces/srv/Play.srv

@@ -1,6 +1,7 @@
-# See rosbag2_transport::PlayOptions::start_time
+# See rosbag2_transport::PlayOptions::start_offset
 builtin_interfaces/Time start_offset
 # See rosbag2_transport::PlayOptions::playback_duration
 builtin_interfaces/Duration playback_duration
 ---
-bool success  # return true
+# returns false when another playback execution is running, otherwise true
+bool success

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -131,8 +131,7 @@ class Player
 
   void play(
     const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options,
-    const std::optional<rcutils_duration_value_t> & duration)
+    PlayOptions & play_options)
   {
     auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
     auto player = std::make_shared<rosbag2_transport::Player>(
@@ -144,7 +143,7 @@ class Player
       [&exec]() {
         exec.spin();
       });
-    player->play(duration);
+    player->play();
 
     exec.cancel();
     spin_thread.join();
@@ -292,8 +291,7 @@ PYBIND11_MODULE(_transport, m) {
 
   py::class_<rosbag2_py::Player>(m, "Player")
   .def(py::init())
-  .def(
-    "play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg("play_options"))
+  .def("play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg("play_options"))
   ;
 
   py::class_<rosbag2_py::Recorder>(m, "Recorder")

rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp

@@ -129,18 +129,6 @@ class SubscriptionManager
       });
   }
 
-  std::future<void> spin_subscriptions_for(rcutils_duration_value_t duration)
-  {
-    return async(
-      std::launch::async, [this, duration]() {
-        rclcpp::executors::SingleThreadedExecutor exec;
-        auto end = std::chrono::high_resolution_clock::now() + std::chrono::nanoseconds(duration);
-        while (rclcpp::ok() && continue_spinning_until(expected_topics_with_size_, end)) {
-          exec.spin_node_some(subscriber_node_);
-        }
-      });
-  }
-
 private:
   bool continue_spinning(
     const std::unordered_map<std::string, size_t> & expected_topics_with_sizes,
@@ -159,23 +147,6 @@ class SubscriptionManager
     return false;
   }
 
-  bool continue_spinning_until(
-    const std::unordered_map<std::string, size_t> & expected_topics_with_sizes,
-    std::chrono::time_point<std::chrono::high_resolution_clock> end_time)
-  {
-    auto current = std::chrono::high_resolution_clock::now();
-    if (current > end_time) {
-      return false;
-    }
-
-    for (const auto & topic_expected : expected_topics_with_sizes) {
-      if (subscribed_messages_[topic_expected.first].size() < topic_expected.second) {
-        return true;
-      }
-    }
-    return false;
-  }
-
   std::vector<rclcpp::SubscriptionBase::SharedPtr> subscriptions_;
   std::unordered_map<std::string,
     std::vector<std::shared_ptr<rclcpp::SerializedMessage>>> subscribed_messages_;

rosbag2_transport/include/rosbag2_transport/player.hpp

@@ -96,7 +96,7 @@ class Player : public rclcpp::Node
   virtual ~Player();
 
   ROSBAG2_TRANSPORT_PUBLIC
-  void play(const std::optional<rcutils_duration_value_t> & duration = std::nullopt);
+  bool play();
 
   // Playback control interface
   /// Pause the flow of time for playback.
@@ -228,6 +228,7 @@ class Player : public rclcpp::Node
   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_;
 

rosbag2_transport/src/rosbag2_transport/player.cpp

@@ -191,8 +191,14 @@ bool Player::is_storage_completely_loaded() const
   return !storage_loading_future_.valid();
 }
 
-void Player::play(const std::optional<rcutils_duration_value_t> & duration)
+bool Player::play()
 {
+  if (is_in_playback_) {
+    RCLCPP_WARN_STREAM(get_logger(), "Trying to play() while in playback, dismissing request.");
+    return false;
+  }
+  is_in_playback_ = true;
+
   rclcpp::Duration delay(0, 0);
   if (play_options_.delay >= rclcpp::Duration(0, 0)) {
     delay = play_options_.delay;
@@ -202,15 +208,9 @@ void Player::play(const std::optional<rcutils_duration_value_t> & duration)
       "Invalid delay value: " << play_options_.delay.nanoseconds() << ". Delay is disabled.");
   }
 
-  rcutils_time_point_value_t play_until_time = starting_time_;
+  rcutils_time_point_value_t play_until_time = -1;
   if (play_options_.playback_duration >= rclcpp::Duration(0, 0)) {
-    play_until_time += play_options_.playback_duration.nanoseconds();
-  } else {
-    play_until_time = -1;
-    RCLCPP_INFO_STREAM(
-      get_logger(),
-      "Invalid playback duration value: " << play_options_.playback_duration.nanoseconds() <<
-        ". Playback duration is disabled.");
+    play_until_time = starting_time_ + play_options_.playback_duration.nanoseconds();
   }
   RCLCPP_INFO_STREAM(get_logger(), "Playback duration value: " << play_until_time);
 
@@ -266,6 +266,9 @@ void Player::play(const std::optional<rcutils_duration_value_t> & duration)
       }
     }
   }
+
+  is_in_playback_ = false;
+  return true;
 }
 
 void Player::pause()
@@ -474,7 +477,7 @@ void Player::play_messages_from_queue(const rcutils_duration_value_t & play_unti
     }
     // 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)) {
+    while (rclcpp::ok() && !clock_->sleep_until(message->time_stamp)) {
       if (std::atomic_exchange(&cancel_wait_for_next_message_, false)) {
         break;
       }
@@ -700,13 +703,9 @@ void Player::create_control_services()
       rosbag2_interfaces::srv::Play::Request::ConstSharedPtr request,
       rosbag2_interfaces::srv::Play::Response::SharedPtr response)
     {
-      play_options_.start_offset =
-      static_cast<rcutils_time_point_value_t>(RCUTILS_S_TO_NS(request->start_offset.sec)) +
-      static_cast<rcutils_time_point_value_t>(request->start_offset.nanosec);
-      play_options_.playback_duration = rclcpp::Duration(
-        request->playback_duration.sec, request->playback_duration.nanosec);
-      play();
-      response->success = true;
+      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",

rosbag2_transport/test/rosbag2_transport/test_play_for.cpp

@@ -126,18 +126,15 @@ class RosBag2PlayForTestFixture : public RosBag2PlayTestFixture
     sub_->add_subscription<test_msgs::msg::BasicTypes>(kTopic1, 3);
     sub_->add_subscription<test_msgs::msg::Arrays>(kTopic2, 3);
 
-    play_options_.playback_duration =
-      rclcpp::Duration(std::chrono::nanoseconds(std::chrono::milliseconds(milliseconds)));
-    player_ = std::make_shared<MockPlayer>(
-      std::move(
-        reader), storage_options_, play_options_);
+    play_options_.playback_duration = rclcpp::Duration(std::chrono::milliseconds(milliseconds));
+    player_ = std::make_shared<MockPlayer>(std::move(reader), storage_options_, play_options_);
     // Wait for discovery to match publishers with subscribers
     ASSERT_TRUE(
       sub_->spin_and_wait_for_matched(player_->get_list_of_publishers(), std::chrono::seconds(5)));
 
     auto await_received_messages = sub_->spin_subscriptions();
 
-    player_->play();
+    ASSERT_TRUE(player_->play());
 
     await_received_messages.get();
   }
@@ -252,3 +249,76 @@ TEST_F(
   EVAL_REPLAYED_BOOL_ARRAY_PRIMITIVES(replayed_test_arrays);
   EVAL_REPLAYED_FLOAT_ARRAY_PRIMITIVES(replayed_test_arrays);
 }
+
+class RosBag2PlayForInterruptedTestFixture : public RosBag2PlayTestFixture
+{
+public:
+  static constexpr const char * kTopic1Name{"topic1"};
+  static constexpr const char * kTopic1{"/topic1"};
+
+  std::vector<rosbag2_storage::TopicMetadata> get_topic_types()
+  {
+    return {{kTopic1Name, "test_msgs/BasicTypes", "", ""}};
+  }
+
+  std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>>
+  get_serialized_messages()
+  {
+    auto primitive_message = get_messages_basic_types()[0];
+    primitive_message->int32_value = kIntValue;
+
+    // @{ Ordering matters. The mock reader implementation moves messages
+    //    around without any knowledge about message chronology. It just picks
+    //    the next one Make sure to keep the list in order or sort it!
+    std::vector<std::shared_ptr<rosbag2_storage::SerializedBagMessage>> messages =
+    {serialize_test_message(kTopic1Name, 500, primitive_message),
+      serialize_test_message(kTopic1Name, 700, primitive_message),
+      serialize_test_message(kTopic1Name, 900, primitive_message)};
+    // @}
+    return messages;
+  }
+};
+
+TEST_F(
+  RosBag2PlayForInterruptedTestFixture,
+  play_should_return_false_when_interrupted)
+{
+
+  auto topic_types = get_topic_types();
+  auto messages = get_serialized_messages();
+
+  auto prepared_mock_reader = std::make_unique<MockSequentialReader>();
+  prepared_mock_reader->prepare(messages, topic_types);
+  auto reader = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));
+
+  sub_->add_subscription<test_msgs::msg::BasicTypes>(kTopic1, 3);
+
+  play_options_.playback_duration = rclcpp::Duration(std::chrono::milliseconds(1000));
+  std::shared_ptr<MockPlayer> player_ = std::make_shared<MockPlayer>(
+    std::move(
+      reader), storage_options_, play_options_);
+  // Wait for discovery to match publishers with subscribers
+  ASSERT_TRUE(
+    sub_->spin_and_wait_for_matched(player_->get_list_of_publishers(), std::chrono::seconds(5)));
+
+  auto await_received_messages = sub_->spin_subscriptions();
+
+  auto play_execution_1 = std::async(std::launch::async, [player_]() {return player_->play();});
+  auto play_execution_2 = std::async(std::launch::async, [player_]() {return player_->play();});
+
+  await_received_messages.get();
+
+  const auto play_execution_1_wait_result = play_execution_1.wait_for(
+    std::chrono::milliseconds(
+      1500));
+  const auto play_execution_2_wait_result = play_execution_2.wait_for(
+    std::chrono::milliseconds(
+      1500));
+
+  ASSERT_EQ(std::future_status::ready, play_execution_1_wait_result);
+  ASSERT_EQ(std::future_status::ready, play_execution_2_wait_result);
+
+  ASSERT_TRUE(
+    (play_execution_1.get() && !play_execution_2.get()) ||
+    (!play_execution_1.get() && play_execution_2.get()));
+}

rosbag2_transport/test/rosbag2_transport/test_play_loop.cpp

@@ -131,7 +131,7 @@ TEST_F(RosBag2PlayTestFixture, messages_played_in_loop) {
   auto player = std::make_shared<rosbag2_transport::Player>(
     std::move(
       reader), storage_options_, play_options);
-  std::thread loop_thread(&rosbag2_transport::Player::play, player, std::nullopt);
+  std::thread loop_thread(&rosbag2_transport::Player::play, player);
 
   await_received_messages.get();
   rclcpp::shutdown();