From 1703b5bc07f2e5d3e087fc7edb74715bdad8fc8a Mon Sep 17 00:00:00 2001
From: Andreas Greimel <external.andreas.greimel@bosch-si.com>
Date: Thu, 13 Sep 2018 11:17:17 +0200
Subject: [PATCH] GH-21 Wire rosbag play into CLI

---
 ros2bag/ros2bag/verb/play.py                  |  4 +++-
 .../rosbag2_transport/_rosbag2_transport.cpp  | 23 +++++++++++++++++++
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/ros2bag/ros2bag/verb/play.py b/ros2bag/ros2bag/verb/play.py
index 92e9f1f4a8..3cf55c3f63 100644
--- 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
index 1c2d0a22a4..982e58d682 100644
--- 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 */
 };