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Recording stopped prints only once. #1530

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merged 1 commit into from
Jan 11, 2024

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fujitatomoya
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@fujitatomoya fujitatomoya commented Jan 5, 2024

part of #1529.

the follow up PR is required for #1529 (comment)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
@fujitatomoya fujitatomoya requested a review from a team as a code owner January 5, 2024 23:11
@fujitatomoya fujitatomoya requested review from gbiggs and jhdcs and removed request for a team January 5, 2024 23:11
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@MichaelOrlov minor fix, could you review?

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@fujitatomoya I was considering to put this check inside RecorderImpl::stop() method to cover other possible cases.
It is ok solution as intermitient fix.
However, will need to add protection with mutex for the in_recording_ in the future to avoid race conditions.

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However, will need to add protection with mutex for the in_recording_ in the future to avoid race conditions.

std::atomic<bool> in_recording_ = false;

it is atomic operation, so it should be protected?

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@fujitatomoya Changing a flag is atomic however, transitioning from one state to another (recording/not recording) is not.
There are possible situations when we are in the process of starting recording and calling the stop() method from another thread.
Let's do protection with mutex in a separate PR to be able to backport the current PR.

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Ah, i see that resolves the problem too. i think we can close this PR.

@fujitatomoya
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@MichaelOrlov why did you reopen this one? do you want to merge this 1st and follow-up PR with mutex locks?

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@fujitatomoya

do you want to merge this 1st and follow-up PR with mutex locks?

Yes, exactly. Becasue if we will add a new mutex we will not be able to backport it to the Humble and Iron.

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one thing i want to to confirm is, i believe #1529 (comment) is planned to be in RecorderImpl, which does not break the userspace. is that not acceptable?

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@fujitatomoya The problem is that we introduced RecorderImpl only on the Iron distro. Humble doesn't have it

Recorder::~Recorder()
{
keyboard_handler_->delete_key_press_callback(toggle_paused_key_callback_handle_);
stop();
}
void Recorder::stop()
{
stop_discovery_ = true;
if (discovery_future_.valid()) {
auto status = discovery_future_.wait_for(2 * record_options_.topic_polling_interval);
if (status != std::future_status::ready) {
RCLCPP_ERROR_STREAM(
get_logger(),
"discovery_future_.wait_for(" << record_options_.topic_polling_interval.count() <<
") return status: " << (status == std::future_status::timeout ? "timeout" : "deferred"));
}
}

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The problem is that we introduced RecorderImpl only on the Iron distro. Humble doesn't have it

Ah 😅 I see. can you run CI for this? i am gonna follow up for #1529 (comment) with another PR.

@MichaelOrlov
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@fujitatomoya Yes, please go ahead and run CI. I 've approved this PR.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@fujitatomoya
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@MichaelOrlov looks good to go!

@MichaelOrlov MichaelOrlov merged commit 73b0772 into ros2:rolling Jan 11, 2024
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https://github.com/Mergifyio backport iron humble

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mergify bot commented Jan 11, 2024

backport iron humble

✅ Backports have been created

mergify bot pushed a commit that referenced this pull request Jan 11, 2024
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 73b0772)
mergify bot pushed a commit that referenced this pull request Jan 11, 2024
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 73b0772)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/recorder.cpp
MichaelOrlov pushed a commit that referenced this pull request Jan 13, 2024
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 73b0772)

Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
MichaelOrlov added a commit that referenced this pull request Jan 13, 2024
* `Recording stopped` prints only once. (#1530)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 73b0772)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/recorder.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>
emersonknapp added a commit that referenced this pull request Jun 10, 2024
* Link and compile against rosbag2_storage_mcap: Fixed issue 1492 (#1496) (#1498)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 7fcb703)

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* [humble] Bugfix for incorrect playback rate changes when pressing buttons (backport #1513) (#1515)

* Bugfix for incorrect playback rate changes when pressing buttons (#1513)

- Playback rate expected to be changed by 10% with each
increase/decrease step.
- Use +0.1 and -0.1 in decrease/increase rate formula instead of
multiply by factor of the 1.1 and 0.9 respectively.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
(cherry picked from commit 95f78b6)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/player.cpp

* Address merge conflicts after auto-backporting

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* call cv.wait_until only if necessary. (#1521) (#1523)

* call cv.wait_until only if necessary.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* add comment to avoid extra delay for performance.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit a16704b)

Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* [humble] Install signal handlers in recorder only inside record method (backport #1464) (#1526)

* Install signal handlers in recorder only inside record method (#1464)

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
(cherry picked from commit 195e406)

# Conflicts:
#	rosbag2_py/src/rosbag2_py/_transport.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* [humble] `Recording stopped` prints only once. (backport #1530) (#1535)

* `Recording stopped` prints only once. (#1530)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 73b0772)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/recorder.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* [humble] Give proper log message for `--start-paused` (backport #1537) (#1541)

* Add proper message for --start-paused (#1537)

Signed-off-by: Christoph Froehlich <christoph.froehlich@ait.ac.at>
(cherry picked from commit 317286c)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/recorder.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* 0.15.9 (#1551)

* 0.15.9

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

* Update rosbag2_transport/CHANGELOG.rst

Co-authored-by: Michael Orlov <michael.orlov@apex.ai>
Signed-off-by: Audrow Nash <audrow@intrinsic.ai>

---------

Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* [humble] Add default initialization for CompressionOptions (backport #1539) (#1546)

* Add default initialization for CompressionOptions (#1539)

* feat: add sane defaults for CompressionOptions

Signed-off-by: Arne Böckmann <a.boeckmann@cellumation.com>

* Update rosbag2_compression/include/rosbag2_compression/compression_options.hpp

Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Arne Böckmann <a.boeckmann@cellumation.com>

---------

Signed-off-by: Arne Böckmann <a.boeckmann@cellumation.com>
Co-authored-by: Arne Böckmann <a.boeckmann@cellumation.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 931bf54)

# Conflicts:
#	rosbag2_compression/include/rosbag2_compression/compression_options.hpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Arne B <arne@rnae.de>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* Fix/zstd vendor does not find system zstd (#1111) (#1560)

cmake did not find the Findzstd.cmake in cmake/Modules

Since we cannot use pkg-config for some Windows issues, the parsing of
the version is done by looking for the string in zstd.h.

Signed-off-by: Matthias Schoepfer <m.schoepfer@rethinkrobotics.com>
(cherry picked from commit e7e7269)

Co-authored-by: DasRoteSkelett <matthias.schoepfer@googlemail.com>

* [humble] Use rw_lock to protect mcap metadata lists. (backport #1561) (#1567)

* Use rw_lock to protect mcap metadata lists. (#1561)

* use rw_lock to protect mcap metadata lists.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* introduce MCAPStorage::write_lock_free private method.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
(cherry picked from commit 90d1da8)

# Conflicts:
#	rosbag2_storage_mcap/src/mcap_storage.cpp

* Resolve merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* Add /bigobj to MSVC compiles. (#1571)

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

* Fix split by time. (backport #1022) (#1616)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* [humble] Add BagSplitInfo service call on bag close (backport #1422) (#1637)

* Add BagSplitInfo service call on bag close (#1422)

- Note: The `BagSplitInfo::opened_file` will have empty string to
indicate that it was "bag close" and not bag split event.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
(cherry picked from commit ba199d0)

# Conflicts:
#	rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp

* Fix merge conflicts

- Ensure that writer_ is destructed before intercepted fake_metadata_

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* [Humble] Resolve recording option problem (backport #1649) (#1651)

* Resolve recording option problem (#1649)

Signed-off-by: Barry Xu <barry.xu@sony.com>
(cherry picked from commit 4914ab3)

# Conflicts:
#	ros2bag/ros2bag/verb/record.py

* Fix cherry-pick conflicts for mergify/bp/humble/pr-1649 (#1652)

Signed-off-by: Barry Xu <barry.xu@sony.com>

---------

Signed-off-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>

* [humble] Add --log-level to ros2 bag play and record (#1655)

* Add --log-level to ros2 bag play and record

Co-authored-by: Michael Orlov <michael.orlov@apex.ai>
Signed-off-by: Roman Sokolkov <rsokolkov@gmail.com>

* Fix missing import

Signed-off-by: Roman Sokolkov <rsokolkov@gmail.com>

---------

Signed-off-by: Roman Sokolkov <rsokolkov@gmail.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

* [humble] Bugfix for writer not being able to open again after closing (backport #1599) (#1653)

* [iron] Bugfix for writer not being able to open again after closing (backport #1599) (#1635)

* re-applies fixes from #1590 to rolling. Also removes new message definition in sequential writer test for multiple open operations. Also clears topic_names_to_message_definitions_ and handles message_definitions_s underlying container similarly. Lastly, also avoids reset of factory in the compression writer, adds unit test there too.

Signed-off-by: Yannick Schulz <yschulz854@gmail.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* removes unused compressor_ member from compresser writer class. Also delegates rest of the closing behavior to the base class in close method, as it is handled in the open and write methods of the compression writer

Signed-off-by: Yannick Schulz <yschulz854@gmail.com>

* Remove unrelated delta

- message_definitions_ was intentionally allocated on the stack and
should persist between writer close() and open() because it represents
cache for message definitions which is not changes.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Don't call virtual methods from destructors

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Cleanup 'rosbag2_directory_next' after the test run

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Protect Writer::open(..) and Writer::close() with mutex on upper level

- Rationale: To avoid race conditions if open(..) and close() could be
ever be called from different threads.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Bugfix for WRITE_SPLIT callback not called for the last compressed file

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Bugfix for lost messages from cache when closing compression writer

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Address build failure by using rcpputils::fs instead of std::filesystem

- Note: On Iron we haven't migrated to the std::filesystem and using
rcpputils::fs

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Adopt failing 'open_succeeds_twice' test for Iron

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Return from writer's open() immediately if storage already open

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Yannick Schulz <yschulz854@gmail.com>
Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Yannick Schulz <yschulz854@gmail.com>
(cherry picked from commit a360d9b)

# Conflicts:
#	rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp
#	rosbag2_cpp/src/rosbag2_cpp/writer.cpp
#	rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Fix for segfault in open_twice test

- Ensure that writer_ is destructed before intercepted fake_metadata_

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Fix for "open_succeeds_twice" test failure on second run

- Use std::filesystem for temp files and folders operation. For some
reason rcpputils::fs::delete_all(folder_name) wasn't able to delete temp
folder with subfolders.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

* Adopt changes in TestRosbag2CPPAPI::minimal_writer_example for humble

- The `serialized_msg2` is not owning the serialized data after the
first call writer.write(serialized_msg2,..). i.e. need to use another
message or another API in test. This is not a bug - this is by design.

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>

---------

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>
Signed-off-by: Audrow Nash <audrow@intrinsic.ai>
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Roman Sokolkov <rsokolkov@gmail.com>
Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Michael Orlov <michael.orlov@apex.ai>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Audrow Nash <audrow@openrobotics.org>
Co-authored-by: Arne B <arne@rnae.de>
Co-authored-by: DasRoteSkelett <matthias.schoepfer@googlemail.com>
Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Roman <rsokolkov@gmail.com>
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