Notification of significant events during bag recording and playback #908

gbiggs · 2021-11-09T05:36:54Z

Closes #884

gbiggs · 2021-11-09T05:37:10Z

I could do with some suggestions on how best to test this functionality.

jhdcs · 2021-11-09T12:54:38Z

At the moment, it's looking like rosbag2_transport doesn't want to build in GitHub... Does it build locally?

gbiggs · 2021-11-09T14:16:47Z

Not yet. This is still a work in progress.

MichaelOrlov

@gbiggs Thank you for implementing this feature.
I like idea with EventCallbackManager.

However it seems you forgot to add call for execute_callbacks to the SequentialReader::load_next_file()
IMO. It could be implemented as:

void SequentialReader::load_next_file()
{
  assert(current_file_iterator_ != file_paths_.end());
  auto info = std::make_shared<bag_events::BagSplitInfo>();
  info->closed_file = get_current_file();
  current_file_iterator_++;
  load_current_file();
  info->opened_file = get_current_file();
  callback_manager_.execute_callbacks(bag_events::BagEvent::READ_SPLIT, info);
}

I also have concern about potential performance degradation during bag split on recording. See my comments in code.

PS: Looking forward to see implementation for relevant unit tests.

rosbag2_cpp/include/rosbag2_cpp/bag_events.hpp

rosbag2_cpp/include/rosbag2_cpp/reader.hpp

rosbag2_cpp/include/rosbag2_cpp/writer.hpp

rosbag2_cpp/include/rosbag2_cpp/readers/sequential_reader.hpp

rosbag2_cpp/include/rosbag2_cpp/bag_events.hpp

rosbag2_transport/test/rosbag2_transport/mock_sequential_reader.hpp

rosbag2_cpp/include/rosbag2_cpp/reader_interfaces/base_reader_interface.hpp

rosbag2_cpp/include/rosbag2_cpp/readers/sequential_reader.hpp

jhdcs

Just a quick comment. I'm also curious about a solution to the performance issue that @MichaelOrlov raised.

jhdcs · 2021-11-22T13:58:24Z

rosbag2_transport/test/rosbag2_transport/mock_sequential_reader.hpp

@@ -56,6 +56,13 @@ class MockSequentialReader : public rosbag2_cpp::reader_interfaces::BaseReaderIn
  std::shared_ptr<rosbag2_storage::SerializedBagMessage> read_next() override
  {
    // filter_ was considered when incrementing num_read_ in has_next()
+    if (num_read_ % 5 == 0) {


I'm drawing a bit of a blank at the moment, but what is the "5" here representing? Should this be a constant?

It means the bag is "split" every 5 messages. I'll add a comment.

gbiggs · 2021-11-23T02:34:49Z

I've added integration tests for the Player and Recorder. I'm still working on unit tests for SequentialReader and SequentialWriter.

gbiggs · 2021-11-23T14:34:27Z

I've pushed unit tests for the SequentialWriter and SequentialReader.

emersonknapp

LGTM - thanks for the revisions

emersonknapp · 2021-11-24T01:32:20Z

Gist: https://gist.githubusercontent.com/emersonknapp/f8266fb628fa25dd88199616b529ea12/raw/20366e0739e0daff5b03c0d68c9a387a3566740b/ros2.repos
BUILD args: --packages-up-to rosbag2_cpp rosbag2_interfaces rosbag2_transport rosbag2_tests rosbag2
TEST args: --packages-select rosbag2_cpp rosbag2_interfaces rosbag2_transport rosbag2_tests rosbag2
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9388

Linux
Linux-aarch64
macOS
Windows

jhdcs · 2021-11-29T13:19:35Z

rosbag2_cpp/include/rosbag2_cpp/bag_events.hpp

+
+namespace rosbag2_cpp
+{
+


Would some comments in this file explaining what the events are and how to implement them be useful? I'm just thinking of future contributors to rosbag2 that may not have been privy to the discussions on this. Comments may help to reduce onboarding time and lessen potential confusion. Maybe.

Good catch! That file was completely devoid of comments. I've documented the entities in it in ad46aaa. Please take a look.

The documentation is very thorough! Fantastic! Love it!

MichaelOrlov

@gbiggs Thank you for addressing my comments and proposals from previous round of review and new revisions.
Here is my second round of review.
I have proposal how to make RosBag2PlayTestFixture::read_split_callback_is_called test non-flaky. See my proposals in code comments.

rosbag2_transport/src/rosbag2_transport/recorder.cpp

rosbag2_transport/test/rosbag2_transport/test_play.cpp

rosbag2_transport/test/rosbag2_transport/mock_sequential_writer.hpp

jhdcs

Looks great to me! Especially love the added documentation. I only had one area where I wasn't clear where something was being said, but I'm not confident that's not just me missing something.

jhdcs · 2021-12-07T13:50:47Z

rosbag2_cpp/include/rosbag2_cpp/bag_events.hpp

+
+namespace rosbag2_cpp
+{
+


The documentation is very thorough! Fantastic! Love it!

jhdcs · 2021-12-07T14:00:57Z

rosbag2_transport/src/rosbag2_transport/recorder.cpp

+      split_event_pub_->publish(message);
+    }
+
+    should_exit = event_publisher_thread_should_exit_;


Perhaps I'm missing something, but where is event_publisher_thread_should_exit_ being set/modified after line 112? Is this going to be always true?

Yes. The thread exists from the start of recording for the remaining lifetime of the Recorder and only exits when the recorder destructs. This is consistent with the way the Recorder class, once it starts recording, only stops recording when it destructs.

emersonknapp · 2021-12-08T00:28:12Z

I think we're good to move forward - have you addressed the yellow issues on OSX and Windows? Are you able to re-run CI yourself or would you like me to run it again?

gbiggs · 2021-12-08T02:03:24Z

I haven't been able to address those issues. However a lot has changed since that CI run, so if you could run CI again that would be great.

MichaelOrlov

Suggestion for replacing magic number size_t num_msgs_in_bag = 6; with getter max_messages_per_file() from MockSequentialReader and MockSequentialWriter

rosbag2_transport/test/rosbag2_transport/test_record.cpp

rosbag2_transport/test/rosbag2_transport/test_play.cpp

emersonknapp · 2021-12-08T17:35:44Z

Gist: https://gist.githubusercontent.com/emersonknapp/ea90cff73b8a33a9cf4479ef2810e008/raw/20366e0739e0daff5b03c0d68c9a387a3566740b/ros2.repos
BUILD args: --packages-up-to rosbag2_cpp rosbag2_interfaces rosbag2_transport rosbag2_tests rosbag2
TEST args: --packages-select rosbag2_cpp rosbag2_interfaces rosbag2_transport rosbag2_tests rosbag2
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9473

Linux
Linux-aarch64
macOS
Windows

gbiggs · 2021-12-09T01:12:43Z

I've addressed the warning from OSX.

The Windows test failure (test_play_publish_clock__rmw_cyclonedds_cpp) doesn't appear to be related to this PR?

MichaelOrlov

Looks good to me with green CI.

MichaelOrlov · 2021-12-09T01:43:47Z

@gbiggs I see that SequentialWriterTest.split_event_calls_callback failing on windows. See details here

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

gbiggs · 2022-06-20T02:04:45Z

Rebased and fixed the double include.

Linux
Linux-aarch64
Windows

MichaelOrlov · 2022-06-21T05:53:51Z

@gbiggs Some tests from play_for failed on CI Actions job https://build.ros2.org/job/Rpr__rosbag2__ubuntu_jammy_amd64/126/
Could you please take a look on failures or try to retest?

MichaelOrlov · 2022-06-21T23:58:18Z

@gbiggs I was not able to reproduce those failures in test_play_for from failing job https://build.ros2.org/job/Rpr__rosbag2__ubuntu_jammy_amd64/126/ locally even under the heavy load of my machine.
I used stress -m 60 -c 12 -i 60.
I have a suspicious that it was some collision between tests running in parallel on CI.
We have topic name "/topic1" which is very common for other unit tests. I will consider to rename those topic name in future.

Merging this request then.

gbiggs · 2022-06-22T02:07:00Z

Thanks for trying to reproduce them, @MichaelOrlov . I similarly was not able to reproduce the errors locally, and the manual CI also did not turn them up.

Now that this PR is merged, can we please get a release of rosbag2 to rolling? I'd also like to backport this PR to humble; do you think a backport is possible or is API/ABI impacted?

MichaelOrlov · 2022-06-24T23:34:35Z

@gbiggs I want to defer release to the rolling until we will get merged at least #1032 and perhaps #1007

As regards to the possibility of backporting this PR to the Humble.
I walked through changes in PR and it seems we are ok it terms of API/ABI compatibility. I didn't find that you are altering or removing any existent API or member variable. Only adding new. In theory it should keep compatibility with previous version of library.

…#908) * Simple hacky prototype Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Improved prototype with more flexibility and event information Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Use the full relative file path for event info Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove no-longer required dependency Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove left-over merge Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change event names Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add overrides to mocks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing include Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove empty file Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary virtual Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct formatting Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing doc Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Reformat documentation Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change read event topic name Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change read event topic name Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Simplify for loop Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary blank line Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change argument type to const Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add events handling to mocks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add comment explaining 5-message split Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add integration tests for player and recorder Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add ability to check if an event has callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Shift event topic publishing to a separate thread Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Fix formatting Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Test SequentialReader event callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Test SequentialWriter event callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Document bag events Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Check if joinable before joining Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct spelling mistake Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct spelling mistake Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Reduce time wasted waiting for test to reach intended behaviour Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Address test flakiness Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Improve size check Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Use constant for split size in tests Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing header Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Allocate thread on the stack Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add getters for number of messages per 'file' Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Replace magic number Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Address unstable OSX build Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Make path in test cross-platform Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing virtual destructor Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Follow uncrustify suggestion Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Fix rebase errors Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove double include Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com>

…#908) (#1037) * Simple hacky prototype Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Improved prototype with more flexibility and event information Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Use the full relative file path for event info Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove no-longer required dependency Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove left-over merge Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change event names Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add overrides to mocks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing include Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove empty file Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary virtual Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct formatting Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing doc Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Reformat documentation Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change read event topic name Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change read event topic name Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Simplify for loop Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary blank line Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Change argument type to const Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add events handling to mocks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add comment explaining 5-message split Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add integration tests for player and recorder Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add ability to check if an event has callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Shift event topic publishing to a separate thread Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Fix formatting Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Test SequentialReader event callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Test SequentialWriter event callbacks Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Document bag events Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Check if joinable before joining Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct spelling mistake Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct spelling mistake Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Reduce time wasted waiting for test to reach intended behaviour Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Address test flakiness Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Improve size check Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Use constant for split size in tests Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing header Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Allocate thread on the stack Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add getters for number of messages per 'file' Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Replace magic number Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Address unstable OSX build Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Make path in test cross-platform Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add missing virtual destructor Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Follow uncrustify suggestion Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Fix rebase errors Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove double include Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com>

ros-discourse · 2022-08-23T20:44:21Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-8-18-2022/27050/1

gbiggs requested a review from a team as a code owner November 9, 2021 05:36

gbiggs requested review from Karsten1987 and jhdcs and removed request for a team November 9, 2021 05:36

emersonknapp marked this pull request as draft November 15, 2021 21:05

gbiggs changed the title ~~WIP: Notification of significant events during bag recording and playback~~ Notification of significant events during bag recording and playback Nov 16, 2021

gbiggs marked this pull request as ready for review November 16, 2021 03:47

emersonknapp requested review from emersonknapp and MichaelOrlov and removed request for Karsten1987 November 19, 2021 17:05

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gbiggs force-pushed the gbiggs/bag-events branch from 8575fbd to 907ee38 Compare November 22, 2021 05:36

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gbiggs and others added 17 commits June 20, 2022 10:46

Document bag events

4b3ef80

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Check if joinable before joining

5a047fc

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Correct spelling mistake

2f49b7e

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Correct spelling mistake

e6c5990

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Reduce time wasted waiting for test to reach intended behaviour

02a6cec

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Address test flakiness

dc8ae99

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Improve size check

9e3ace8

Co-authored-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Use constant for split size in tests

5d12203

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Add missing header

47bd578

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Allocate thread on the stack

df2b23a

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Add getters for number of messages per 'file'

83342db

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Replace magic number

d63e397

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Address unstable OSX build

824cb7a

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Make path in test cross-platform

44365e5

Co-authored-by: Emerson Knapp <537409+emersonknapp@users.noreply.github.com> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Add missing virtual destructor

2eb9924

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Follow uncrustify suggestion

d1c37d6

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

Fix rebase errors

b8bc753

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

gbiggs force-pushed the gbiggs/bag-events branch from f7e5fa5 to b8bc753 Compare June 20, 2022 01:59

Remove double include

d74ff65

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>

MichaelOrlov merged commit 164475b into ros2:master Jun 21, 2022

gbiggs deleted the gbiggs/bag-events branch June 22, 2022 02:05

gbiggs mentioned this pull request Jul 4, 2022

[Backport/Humble] Notification of significant events during bag recording and playback #1037

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Notification of significant events during bag recording and playback #908

Notification of significant events during bag recording and playback #908

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		namespace rosbag2_cpp
		{


		namespace rosbag2_cpp
		{

Notification of significant events during bag recording and playback #908

Notification of significant events during bag recording and playback #908

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