Solves most of the comments from https://github.com/ros2/rosbag2/pull…

…/960/files (#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]>
gbiggs · May 11, 2022 · a9b779f · a9b779f
1 parent 03b4aa9
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Showing 9 changed files with 99 additions and 69 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')
@@ -150,6 +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
@@ -17,7 +17,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetRate.srv"
   "srv/IsPaused.srv"
   "srv/Pause.srv"
-  "srv/PlayFor.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 +1,6 @@
+# See rosbag2_transport::PlayOptions::start_time
+builtin_interfaces/Time start_offset
+# See rosbag2_transport::PlayOptions::playback_duration
+builtin_interfaces/Duration playback_duration
+---
+bool success  # return true
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()));
@@ -242,6 +253,10 @@ 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(
@@ -278,8 +293,7 @@ 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"), py::arg("duration") = std::nullopt)
+    "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
@@ -110,8 +110,7 @@ function(create_tests_for_rmw_implementation)
     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
-    ${SKIP_TEST})
+    AMENT_DEPS test_msgs rosbag2_test_common)
 
   rosbag2_transport_add_gmock(test_play_loop
     test/rosbag2_transport/test_play_loop.cpp

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
@@ -38,7 +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_for.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"
@@ -200,7 +200,7 @@ class Player : public rclcpp::Node
   bool is_storage_completely_loaded() const;
   void enqueue_up_to_boundary(size_t boundary) RCPPUTILS_TSA_REQUIRES(reader_mutex_);
   void wait_for_filled_queue() const;
-  void play_messages_from_queue(const std::optional<rcutils_duration_value_t> & play_until_time);
+  void play_messages_from_queue(const rcutils_duration_value_t & play_until_time);
   void prepare_publishers();
   bool publish_message(rosbag2_storage::SerializedBagMessageSharedPtr message);
   static constexpr double read_ahead_lower_bound_percentage_ = 0.9;
@@ -238,6 +238,7 @@ 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::PlayFor>::SharedPtr srv_play_for_;
   rclcpp::Service<rosbag2_interfaces::srv::Burst>::SharedPtr srv_burst_;

diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -202,25 +202,33 @@ 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_;
+  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.");
+  }
+  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 delay_duration(delay.nanoseconds());
         std::this_thread::sleep_for(delay_duration);
       }
-      std::optional<rcutils_time_point_value_t> play_until_time{};
-      if (duration.has_value() && *duration > 0) {
-        play_until_time = {starting_time_ + *duration};
-      }
       {
         std::lock_guard<std::mutex> lk(reader_mutex_);
         reader_->seek(starting_time_);
         clock_->jump(starting_time_);
       }
       storage_loading_future_ = std::async(std::launch::async, [this]() {load_storage_content();});
       wait_for_filled_queue();
-      play_messages_from_queue({play_until_time});
+      play_messages_from_queue(play_until_time);
       {
         std::lock_guard<std::mutex> lk(ready_to_play_from_queue_mutex_);
         is_ready_to_play_from_queue_ = false;
@@ -446,8 +454,7 @@ void Player::enqueue_up_to_boundary(size_t boundary)
   }
 }
 
-void Player::play_messages_from_queue(
-  const std::optional<rcutils_duration_value_t> & play_until_time)
+void Player::play_messages_from_queue(const rcutils_duration_value_t & play_until_time)
 {
   // Note: We need to use message_queue_.peek() instead of message_queue_.try_dequeue(message)
   // to support play_next() API logic.
@@ -461,11 +468,12 @@ void Player::play_messages_from_queue(
     ready_to_play_from_queue_cv_.notify_all();
   }
   while (message_ptr != nullptr && rclcpp::ok()) {
-    // Do not move on until sleep_until returns true
-    // It will always sleep, so this is not a tight busy loop on pause
-    if (play_until_time.has_value() && message_ptr->time_stamp > *play_until_time) {
+    rosbag2_storage::SerializedBagMessageSharedPtr message = *message_ptr;
+    if (play_until_time >= starting_time_ && message->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)) {
       if (std::atomic_exchange(&cancel_wait_for_next_message_, false)) {
         break;
@@ -686,6 +694,20 @@ 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 =
+      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;
+    });
   srv_play_next_ = create_service<rosbag2_interfaces::srv::PlayNext>(
     "~/play_next",
     [this](

diff --git a/rosbag2_transport/test/rosbag2_transport/test_play_for.cpp b/rosbag2_transport/test/rosbag2_transport/test_play_for.cpp
@@ -36,12 +36,13 @@
 #include "rosbag2_play_test_fixture.hpp"
 #include "rosbag2_transport_test_fixture.hpp"
 
+#include "mock_player.hpp"
+
 using namespace ::testing;  // NOLINT
 using namespace rosbag2_transport;  // NOLINT
 using namespace std::chrono_literals;  // NOLINT
 using namespace rosbag2_test_common;  // NOLINT
 
-
 constexpr int kIntValue{32};
 
 constexpr float kFloat1Value{40.};
@@ -113,7 +114,7 @@ class RosBag2PlayForTestFixture : public RosBag2PlayTestFixture
     return messages;
   }
 
-  void SetUp() override
+  void InitPlayerWithPlaybackDurationAndPlay(int64_t milliseconds)
   {
     auto topic_types = get_topic_types();
     auto messages = get_serialized_messages();
@@ -122,50 +123,48 @@ class RosBag2PlayForTestFixture : public RosBag2PlayTestFixture
     prepared_mock_reader->prepare(messages, topic_types);
     auto reader = std::make_unique<rosbag2_cpp::Reader>(std::move(prepared_mock_reader));
 
-    // Due to a problem related to the subscriber, we play many (3) messages but make the subscriber
-    // node spin only until 2 have arrived. Hence the 2 as `launch_subscriber()` argument.
-    sub_->add_subscription<test_msgs::msg::BasicTypes>(kTopic1, 2);
-    sub_->add_subscription<test_msgs::msg::Arrays>(kTopic2, 2);
+    sub_->add_subscription<test_msgs::msg::BasicTypes>(kTopic1, 3);
+    sub_->add_subscription<test_msgs::msg::Arrays>(kTopic2, 3);
 
-    player_ = std::make_shared<rosbag2_transport::Player>(
+    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_);
+    // 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();
+
+    await_received_messages.get();
   }
 
-  std::shared_ptr<rosbag2_transport::Player> player_;
-  std::future<void> await_received_messages_;
+  std::shared_ptr<MockPlayer> player_;
 };
 
+
 TEST_F(RosBag2PlayForTestFixture, play_for_all_are_played_due_to_duration)
 {
-  auto await_received_messages = sub_->spin_subscriptions();
-
-  player_->play(std::chrono::nanoseconds(std::chrono::milliseconds(1000)).count());
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(1000);
 
   auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
     kTopic1);
-  EXPECT_THAT(replayed_test_primitives, SizeIs(Ge(2u)));
+  EXPECT_THAT(replayed_test_primitives, SizeIs(Eq(3u)));
   EVAL_REPLAYED_PRIMITIVES(replayed_test_primitives);
 
   auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>(
     kTopic2);
-  EXPECT_THAT(replayed_test_arrays, SizeIs(Ge(2u)));
+  EXPECT_THAT(replayed_test_arrays, SizeIs(Eq(3u)));
   EVAL_REPLAYED_BOOL_ARRAY_PRIMITIVES(replayed_test_arrays);
   EVAL_REPLAYED_FLOAT_ARRAY_PRIMITIVES(replayed_test_arrays);
 }
 
 TEST_F(RosBag2PlayForTestFixture, play_for_none_are_played_due_to_duration)
 {
-  const rcutils_duration_value_t duration =
-    std::chrono::nanoseconds(std::chrono::milliseconds(300)).count();
-
-  auto await_received_messages = sub_->spin_subscriptions_for(duration);
-
-  player_->play(duration);
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(300);
 
   auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
     kTopic1);
@@ -178,14 +177,7 @@ TEST_F(RosBag2PlayForTestFixture, play_for_none_are_played_due_to_duration)
 
 TEST_F(RosBag2PlayForTestFixture, play_for_less_than_the_total_duration)
 {
-  const rcutils_duration_value_t duration =
-    std::chrono::nanoseconds(std::chrono::milliseconds(800)).count();
-
-  auto await_received_messages = sub_->spin_subscriptions_for(duration);
-
-  player_->play(duration);
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(800);
 
   auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
     kTopic1);
@@ -206,24 +198,19 @@ class RosBag2PlayForFilteredTopicTestFixture : public RosBag2PlayForTestFixture
   {
     // Filter allows /topic2, blocks /topic1
     play_options_.topics_to_filter = {"topic2"};
-    RosBag2PlayForTestFixture::SetUp();
   }
 };
 
 TEST_F(
   RosBag2PlayForFilteredTopicTestFixture,
   play_for_full_duration_recorded_messages_with_filtered_topics)
 {
-  auto await_received_messages = sub_->spin_subscriptions();
-
-  player_->play(std::chrono::nanoseconds(std::chrono::milliseconds(1000)).count());
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(1000);
 
   auto replayed_test_primitives =
     sub_->get_received_messages<test_msgs::msg::BasicTypes>("/topic1");
   // No messages are allowed to have arrived
-  EXPECT_THAT(replayed_test_primitives, SizeIs(0u));
+  EXPECT_THAT(replayed_test_primitives, SizeIs(Eq(0u)));
 
   auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>("/topic2");
   // All messages should have arrived.
@@ -236,36 +223,28 @@ TEST_F(
   RosBag2PlayForFilteredTopicTestFixture,
   play_for_short_duration_recorded_messages_with_filtered_topics)
 {
-  auto await_received_messages = sub_->spin_subscriptions();
-
-  player_->play(std::chrono::nanoseconds(std::chrono::milliseconds(300)).count());
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(300);
 
   auto replayed_test_primitives =
     sub_->get_received_messages<test_msgs::msg::BasicTypes>("/topic1");
   // No messages are allowed to have arrived
-  EXPECT_THAT(replayed_test_primitives, SizeIs(0u));
+  EXPECT_THAT(replayed_test_primitives, SizeIs(Eq(0u)));
 
   auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>("/topic2");
   // All messages should have arrived.
-  EXPECT_THAT(replayed_test_arrays, SizeIs(0u));
+  EXPECT_THAT(replayed_test_arrays, SizeIs(Eq(0u)));
 }
 
 TEST_F(
   RosBag2PlayForFilteredTopicTestFixture,
   play_for_intermediate_duration_recorded_messages_with_filtered_topics)
 {
-  auto await_received_messages = sub_->spin_subscriptions();
-
-  player_->play(std::chrono::nanoseconds(std::chrono::milliseconds(800)).count());
-
-  await_received_messages.get();
+  InitPlayerWithPlaybackDurationAndPlay(800);
 
   auto replayed_test_primitives =
     sub_->get_received_messages<test_msgs::msg::BasicTypes>("/topic1");
   // No messages are allowed to have arrived
-  EXPECT_THAT(replayed_test_primitives, SizeIs(0u));
+  EXPECT_THAT(replayed_test_primitives, SizeIs(Eq(0u)));
 
   auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>("/topic2");
   // Some messages should have arrived.