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Bugfix for incorrect playback rate changes when pressing buttons #1513

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merged 1 commit into from Dec 15, 2023
Merged

Bugfix for incorrect playback rate changes when pressing buttons #1513

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4 changes: 2 additions & 2 deletions rosbag2_transport/src/rosbag2_transport/player.cpp
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Expand Up @@ -1061,12 +1061,12 @@ void PlayerImpl::add_keyboard_callbacks()
);
add_key_callback(
play_options_.increase_rate_key,
[this]() {owner_->set_rate(get_rate() * 1.1);},
[this]() {owner_->set_rate(get_rate() + 0.1);},
"Increase Rate 10%"
);
add_key_callback(
play_options_.decrease_rate_key,
[this]() {owner_->set_rate(get_rate() * 0.9);},
[this]() {owner_->set_rate(get_rate() - 0.1);},
"Decrease Rate 10%"
);
}
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10 changes: 8 additions & 2 deletions rosbag2_transport/test/rosbag2_transport/test_keyboard_controls.cpp
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Expand Up @@ -157,8 +157,14 @@ TEST_F(RosBag2PlayTestFixture, test_keyboard_controls)
keyboard_handler->simulate_key_press(play_options_.pause_resume_toggle_key);
EXPECT_THAT(player->is_paused(), true);

keyboard_handler->simulate_key_press(play_options_.increase_rate_key);
EXPECT_DOUBLE_EQ(player->get_rate(), 1.0);
keyboard_handler->simulate_key_press(play_options_.decrease_rate_key);
// Each increase/decrease shall change playback rate value by 10%
EXPECT_DOUBLE_EQ(player->get_rate(), 0.9);
keyboard_handler->simulate_key_press(play_options_.increase_rate_key);
EXPECT_DOUBLE_EQ(player->get_rate(), 1.0);
keyboard_handler->simulate_key_press(play_options_.increase_rate_key);
EXPECT_DOUBLE_EQ(player->get_rate(), 1.1);

// start playback asynchronously in a separate thread
player->play();
Expand All @@ -175,7 +181,7 @@ TEST_F(RosBag2PlayTestFixture, test_keyboard_controls)
EXPECT_THAT(player->num_paused, 1);
EXPECT_THAT(player->num_resumed, 1);
EXPECT_THAT(player->num_played_next, 1);
EXPECT_THAT(player->num_set_rate, 2);
EXPECT_THAT(player->num_set_rate, 3);
}

TEST_F(RecordIntegrationTestFixture, test_keyboard_controls)
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