rosbag2_py pybind wrapper for "record" - remove rosbag2_transport_py (r…

…os2#702)

* rosbag2_py pybind wrapper for "record" verb

Signed-off-by: Emerson Knapp <[email protected]>

ros2bag/ros2bag/verb/play.py

@@ -96,15 +96,14 @@ def main(self, *, args):  # noqa: D102
             storage_id=args.storage,
             storage_config_uri=storage_config_file,
         )
-        play_options = PlayOptions(
-            read_ahead_queue_size=args.read_ahead_queue_size,
-            node_prefix=NODE_NAME_PREFIX,
-            rate=args.rate,
-            topics_to_filter=args.topics,
-            topic_qos_profile_overrides=qos_profile_overrides,
-            loop=args.loop,
-            topic_remapping_options=topic_remapping,
-        )
+        play_options = PlayOptions()
+        play_options.read_ahead_queue_size = args.read_ahead_queue_size
+        play_options.node_prefix = NODE_NAME_PREFIX
+        play_options.rate = args.rate
+        play_options.topics_to_filter = args.topics
+        play_options.topic_qos_profile_overrides = qos_profile_overrides
+        play_options.loop = args.loop
+        play_options.topic_remapping_options = topic_remapping
 
         player = Player()
         player.play(storage_options, play_options)

ros2bag/ros2bag/verb/record.py

@@ -22,6 +22,9 @@
 from ros2bag.verb import VerbExtension
 from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_py import get_registered_writers
+from rosbag2_py import Recorder
+from rosbag2_py import RecordOptions
+from rosbag2_py import StorageOptions
 import yaml
 
 
@@ -174,35 +177,34 @@ def main(self, *, args):  # noqa: D102
         if args.storage_config_file:
             storage_config_file = args.storage_config_file.name
 
-        # NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
-        #               combined with constrained environments (as imposed by colcon test)
-        #               may result in DLL loading failures when attempting to import a C
-        #               extension. Therefore, do not import rosbag2_transport at the module
-        #               level but on demand, right before first use.
-        from rosbag2_transport import rosbag2_transport_py
-
-        rosbag2_transport_py.record(
+        storage_options = StorageOptions(
             uri=uri,
             storage_id=args.storage,
-            serialization_format=args.serialization_format,
-            node_prefix=NODE_NAME_PREFIX,
-            compression_mode=args.compression_mode,
-            compression_format=args.compression_format,
-            compression_queue_size=args.compression_queue_size,
-            compression_threads=args.compression_threads,
-            all=args.all,
-            no_discovery=args.no_discovery,
-            polling_interval=args.polling_interval,
             max_bagfile_size=args.max_bag_size,
             max_bagfile_duration=args.max_bag_duration,
             max_cache_size=args.max_cache_size,
-            topics=args.topics,
-            regex=args.regex,
-            exclude=args.exclude,
-            include_hidden_topics=args.include_hidden_topics,
-            qos_profile_overrides=qos_profile_overrides,
             storage_preset_profile=args.storage_preset_profile,
-            storage_config_file=storage_config_file)
+            storage_config_uri=storage_config_file,
+        )
+        record_options = RecordOptions()
+        record_options.all = args.all
+        record_options.is_discovery_disabled = args.no_discovery
+        record_options.topics = args.topics
+        record_options.rmw_serialization_format = args.serialization_format
+        record_options.topic_polling_interval = datetime.timedelta(
+            milliseconds=args.polling_interval)
+        record_options.regex = args.regex
+        record_options.exclude = args.exclude
+        record_options.node_prefix = NODE_NAME_PREFIX
+        record_options.compression_mode = args.compression_mode
+        record_options.compression_format = args.compression_format
+        record_options.compression_queue_size = args.compression_queue_size
+        record_options.compression_threads = args.compression_threads
+        record_options.topic_qos_profile_overrides = qos_profile_overrides
+        record_options.include_hidden_topics = args.include_hidden_topics
+
+        recorder = Recorder()
+        recorder.record(storage_options, record_options)
 
         if os.path.isdir(uri) and not os.listdir(uri):
             os.rmdir(uri)

ros2bag/test/test_play_qos_profiles.py

@@ -69,7 +69,7 @@ def test_qos_simple(self):
             bag_command.wait_for_shutdown(timeout=5)
         expected_string_regex = re.compile(ERROR_STRING)
         matches = expected_string_regex.search(bag_command.output)
-        assert not matches, print('ros2bag CLI did not produce the expected output')
+        assert not matches, 'ros2bag CLI did not produce the expected output'
 
     def test_qos_incomplete(self):
         """Test a partially filled QoS profile for a single topic."""
@@ -81,4 +81,4 @@ def test_qos_incomplete(self):
             bag_command.wait_for_shutdown(timeout=5)
         expected_string_regex = re.compile(ERROR_STRING)
         matches = expected_string_regex.search(bag_command.output)
-        assert not matches, print('ros2bag CLI did not produce the expected output')
+        assert not matches, 'ros2bag CLI did not produce the expected output'

ros2bag/test/test_record_qos_profiles.py

@@ -93,8 +93,7 @@ def test_qos_simple(self):
         bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print(
-                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
+        assert matches, ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output)
 
     def test_incomplete_qos_profile(self):
         profile_path = PROFILE_PATH / 'incomplete_qos_profile.yaml'
@@ -110,8 +109,7 @@ def test_incomplete_qos_profile(self):
         bag_command.wait_for_shutdown(timeout=SHUTDOWN_TIMEOUT)
         assert bag_command.terminated
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print(
-                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
+        assert matches, ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output)
 
     def test_incomplete_qos_duration(self):
         profile_path = PROFILE_PATH / 'incomplete_qos_duration.yaml'
@@ -128,8 +126,7 @@ def test_incomplete_qos_duration(self):
         assert bag_command.terminated
         assert bag_command.exit_code != launch_testing.asserts.EXIT_OK
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print(
-                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
+        assert matches, ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output)
 
     def test_nonexistent_qos_profile(self):
         profile_path = PROFILE_PATH / 'foobar.yaml'
@@ -146,5 +143,4 @@ def test_nonexistent_qos_profile(self):
         assert bag_command.terminated
         assert bag_command.exit_code != launch_testing.asserts.EXIT_OK
         matches = expected_string_regex.search(bag_command.output)
-        assert matches, print(
-                ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output))
+        assert matches, ERROR_STRING_MSG.format(expected_string_regex.pattern, bag_command.output)

rosbag2_py/CMakeLists.txt

@@ -155,6 +155,11 @@ if(BUILD_TESTING)
     PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
     APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
   )
+  ament_add_pytest_test(test_transport_py
+    "test/test_transport.py"
+    PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
+    APPEND_ENV "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}" ${other_environment_vars}
+  )
 endif()
 
 ament_package()

rosbag2_py/rosbag2_py/__init__.py

@@ -42,6 +42,8 @@
     from rosbag2_py._transport import (
         Player,
         PlayOptions,
+        Recorder,
+        RecordOptions,
     )
 
 __all__ = [
@@ -60,4 +62,6 @@
     'Info',
     'Player',
     'PlayOptions',
+    'Recorder',
+    'RecordOptions',
 ]

rosbag2_py/src/rosbag2_py/_storage.cpp

@@ -42,12 +42,14 @@ PYBIND11_MODULE(_storage, m) {
 
   pybind11::class_<rosbag2_storage::StorageOptions>(m, "StorageOptions")
   .def(
-    pybind11::init<std::string, std::string, uint64_t, uint64_t, uint64_t, std::string>(),
+    pybind11::init<
+      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id"),
     pybind11::arg("max_bagfile_size") = 0,
     pybind11::arg("max_bagfile_duration") = 0,
     pybind11::arg("max_cache_size") = 0,
+    pybind11::arg("storage_preset_profile") = "",
     pybind11::arg("storage_config_uri") = "")
   .def_readwrite("uri", &rosbag2_storage::StorageOptions::uri)
   .def_readwrite("storage_id", &rosbag2_storage::StorageOptions::storage_id)
@@ -60,6 +62,9 @@ PYBIND11_MODULE(_storage, m) {
   .def_readwrite(
     "max_cache_size",
     &rosbag2_storage::StorageOptions::max_cache_size)
+  .def_readwrite(
+    "storage_preset_profile",
+    &rosbag2_storage::StorageOptions::storage_preset_profile)
   .def_readwrite(
     "storage_config_uri",
     &rosbag2_storage::StorageOptions::storage_config_uri);