From 14afcf65e81819abbcfddab7f18fbd9380a49d05 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <537409+emersonknapp@users.noreply.github.com>
Date: Mon, 12 Apr 2021 14:07:30 -0700
Subject: [PATCH] Add rosbag2_interfaces package with playback service
 definitions (#728)

* Add new package rosbag2_interfaces with control services to be used for controlling playback

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
---
 rosbag2_interfaces/CMakeLists.txt       | 34 +++++++++++++++++++++++++
 rosbag2_interfaces/package.xml          | 29 +++++++++++++++++++++
 rosbag2_interfaces/srv/GetRate.srv      |  2 ++
 rosbag2_interfaces/srv/IsPaused.srv     |  2 ++
 rosbag2_interfaces/srv/Pause.srv        |  1 +
 rosbag2_interfaces/srv/PlayNext.srv     |  2 ++
 rosbag2_interfaces/srv/Resume.srv       |  1 +
 rosbag2_interfaces/srv/Seek.srv         |  3 +++
 rosbag2_interfaces/srv/SetRate.srv      |  3 +++
 rosbag2_interfaces/srv/TogglePaused.srv |  1 +
 10 files changed, 78 insertions(+)
 create mode 100644 rosbag2_interfaces/CMakeLists.txt
 create mode 100644 rosbag2_interfaces/package.xml
 create mode 100644 rosbag2_interfaces/srv/GetRate.srv
 create mode 100644 rosbag2_interfaces/srv/IsPaused.srv
 create mode 100644 rosbag2_interfaces/srv/Pause.srv
 create mode 100644 rosbag2_interfaces/srv/PlayNext.srv
 create mode 100644 rosbag2_interfaces/srv/Resume.srv
 create mode 100644 rosbag2_interfaces/srv/Seek.srv
 create mode 100644 rosbag2_interfaces/srv/SetRate.srv
 create mode 100644 rosbag2_interfaces/srv/TogglePaused.srv

diff --git a/rosbag2_interfaces/CMakeLists.txt b/rosbag2_interfaces/CMakeLists.txt
new file mode 100644
index 0000000000..1d016684a2
--- /dev/null
+++ b/rosbag2_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(rosbag2_interfaces)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GetRate.srv"
+  "srv/IsPaused.srv"
+  "srv/Pause.srv"
+  "srv/PlayNext.srv"
+  "srv/Resume.srv"
+  "srv/Seek.srv"
+  "srv/SetRate.srv"
+  "srv/TogglePaused.srv"
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/rosbag2_interfaces/package.xml b/rosbag2_interfaces/package.xml
new file mode 100644
index 0000000000..204347740f
--- /dev/null
+++ b/rosbag2_interfaces/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosbag2_interfaces</name>
+  <version>0.7.0</version>
+  <description>Interface definitions for controlling rosbag2</description>
+  <maintainer email="karsten@openrobotics.org">Karsten Knese</maintainer>
+  <maintainer email="michael.jeronimo@openrobotics.org">Michael Jeronimo</maintainer>
+  <maintainer email="me@emersonknapp.com">Emerson Knapp</maintainer>
+  <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rosbag2_interfaces/srv/GetRate.srv b/rosbag2_interfaces/srv/GetRate.srv
new file mode 100644
index 0000000000..6ac9d3252d
--- /dev/null
+++ b/rosbag2_interfaces/srv/GetRate.srv
@@ -0,0 +1,2 @@
+---
+float64 rate
diff --git a/rosbag2_interfaces/srv/IsPaused.srv b/rosbag2_interfaces/srv/IsPaused.srv
new file mode 100644
index 0000000000..0375d4a5d9
--- /dev/null
+++ b/rosbag2_interfaces/srv/IsPaused.srv
@@ -0,0 +1,2 @@
+---
+bool paused
diff --git a/rosbag2_interfaces/srv/Pause.srv b/rosbag2_interfaces/srv/Pause.srv
new file mode 100644
index 0000000000..ed97d539c0
--- /dev/null
+++ b/rosbag2_interfaces/srv/Pause.srv
@@ -0,0 +1 @@
+---
diff --git a/rosbag2_interfaces/srv/PlayNext.srv b/rosbag2_interfaces/srv/PlayNext.srv
new file mode 100644
index 0000000000..59e31f9ba9
--- /dev/null
+++ b/rosbag2_interfaces/srv/PlayNext.srv
@@ -0,0 +1,2 @@
+---
+bool success  # can only play-next while playback is paused
diff --git a/rosbag2_interfaces/srv/Resume.srv b/rosbag2_interfaces/srv/Resume.srv
new file mode 100644
index 0000000000..ed97d539c0
--- /dev/null
+++ b/rosbag2_interfaces/srv/Resume.srv
@@ -0,0 +1 @@
+---
diff --git a/rosbag2_interfaces/srv/Seek.srv b/rosbag2_interfaces/srv/Seek.srv
new file mode 100644
index 0000000000..5f85ddb098
--- /dev/null
+++ b/rosbag2_interfaces/srv/Seek.srv
@@ -0,0 +1,3 @@
+builtin_interfaces/Time time
+---
+bool success  # return true if valid time in bag duration, and successful seek
diff --git a/rosbag2_interfaces/srv/SetRate.srv b/rosbag2_interfaces/srv/SetRate.srv
new file mode 100644
index 0000000000..ee61440709
--- /dev/null
+++ b/rosbag2_interfaces/srv/SetRate.srv
@@ -0,0 +1,3 @@
+float64 rate
+---
+bool success  # true if valid rate (> 0) was set
diff --git a/rosbag2_interfaces/srv/TogglePaused.srv b/rosbag2_interfaces/srv/TogglePaused.srv
new file mode 100644
index 0000000000..ed97d539c0
--- /dev/null
+++ b/rosbag2_interfaces/srv/TogglePaused.srv
@@ -0,0 +1 @@
+---