ros2GH-21 Wire rosbag play into CLI

bosch-io · Sep 14, 2018 · 1703b5b · 1703b5b
1 parent 4da3aab
commit 1703b5b
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Showing 2 changed files with 26 additions and 1 deletion.
diff --git a/ros2bag/ros2bag/verb/play.py b/ros2bag/ros2bag/verb/play.py
@@ -14,6 +14,8 @@
 
 from ros2bag.verb import VerbExtension
 
+from rosbag2_transport import rosbag_transport_py
+
 
 class PlayVerb(VerbExtension):
     """ros2 bag play."""
@@ -24,4 +26,4 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
 
     def main(self, *, args):  # noqa: D102
         bag_file = args.bag_file
-        print('calling ros2 bag play on', bag_file)
+        rosbag_transport_py.play_bag(bag_file)
diff --git a/rosbag2_transport/src/rosbag2_transport/_rosbag2_transport.cpp b/rosbag2_transport/src/rosbag2_transport/_rosbag2_transport.cpp
@@ -49,12 +49,35 @@ rosbag2_transport_record_topics(PyObject * Py_UNUSED(self), PyObject * args)
   Py_RETURN_NONE;
 }
 
+static PyObject *
+rosbag2_transport_play(PyObject * Py_UNUSED(self), PyObject * args)
+{
+  char * file_name;
+  if (!PyArg_ParseTuple(args, "s", &file_name)) {
+    return nullptr;
+  }
+
+  rosbag2::Rosbag2PlayOptions options{};
+  options.queue_buffer_length_ = 1000;
+
+  rosbag2_transport::Rosbag2Transport transport;
+  transport.init();
+  transport.play(file_name, options);
+  transport.shutdown();
+
+  Py_RETURN_NONE;
+}
+
 /// Define the public methods of this module
 static PyMethodDef rosbag2_transport_methods[] = {
   {
     "record_topics", rosbag2_transport_record_topics, METH_VARARGS,
     "Record topics"
   },
+  {
+    "play_bag", rosbag2_transport_play, METH_VARARGS,
+    "Play bag"
+  },
   {nullptr, nullptr, 0, nullptr}  /* sentinel */
 };