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[humble] Expose more Writer methods in python interface (backport #1220 and #1339) #1829

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[humble] Expose more Writer methods in python interface (backport #1220 and #1339) #1829

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e13c6d3
Add python binding to close the SequentialWriter
JannikJose Oct 11, 2024
90ad4d2
Expose more Writer methods in python interface (#1220)
emersonknapp Jan 9, 2023
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2 changes: 1 addition & 1 deletion rosbag2_cpp/include/rosbag2_cpp/writer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ class BaseWriterInterface;
* The Writer allows writing messages to a new bag. For every topic, information about its type
* needs to be added before writing the first message.
*/
class ROSBAG2_CPP_PUBLIC Writer final
class ROSBAG2_CPP_PUBLIC Writer
{
public:
explicit Writer(
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74 changes: 32 additions & 42 deletions rosbag2_py/src/rosbag2_py/_writer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,30 +36,13 @@ namespace rosbag2_py
{

template<typename T>
class Writer
class Writer : public rosbag2_cpp::Writer
{
public:
Writer()
: writer_(std::make_unique<rosbag2_cpp::Writer>(std::make_unique<T>()))
{
}

void open(
rosbag2_storage::StorageOptions & storage_options,
rosbag2_cpp::ConverterOptions & converter_options)
{
writer_->open(storage_options, converter_options);
}

void create_topic(const rosbag2_storage::TopicMetadata & topic_with_type)
{
writer_->create_topic(topic_with_type);
}

void remove_topic(const rosbag2_storage::TopicMetadata & topic_with_type)
{
writer_->remove_topic(topic_with_type);
}
template<typename ... Args>
explicit Writer(Args && ... args)
: rosbag2_cpp::Writer(std::make_unique<T>(std::forward<Args>(args)...))
{}

/// Write a serialized message to a bag file
void write(
Expand All @@ -74,11 +57,8 @@ class Writer
rosbag2_storage::make_serialized_message(message.c_str(), message.length());
bag_message->time_stamp = time_stamp;

writer_->write(bag_message);
rosbag2_cpp::Writer::write(bag_message);
}

protected:
std::unique_ptr<rosbag2_cpp::Writer> writer_;
};

std::unordered_set<std::string> get_registered_writers()
Expand All @@ -105,28 +85,38 @@ std::unordered_set<std::string> get_registered_serializers()

} // namespace rosbag2_py

using PyWriter = rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>;
using PyCompressionWriter = rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>;

PYBIND11_MODULE(_writer, m) {
m.doc() = "Python wrapper of the rosbag2_cpp writer API";

pybind11::class_<rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>>(
m, "SequentialWriter")
.def(pybind11::init())
.def("open", &rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>::open)
.def("write", &rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>::write)
.def("remove_topic", &rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>::remove_topic)
.def("create_topic", &rosbag2_py::Writer<rosbag2_cpp::writers::SequentialWriter>::create_topic);

pybind11::class_<rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>>(
m, "SequentialCompressionWriter")
pybind11::class_<PyWriter>(m, "SequentialWriter")
.def(pybind11::init())
.def("open", &rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>::open)
.def("write", &rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>::write)
.def(
"remove_topic",
&rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>::remove_topic)
"open",
pybind11::overload_cast<
const rosbag2_storage::StorageOptions &, const rosbag2_cpp::ConverterOptions &
>(&PyWriter::open))
.def("write", &PyWriter::write)
.def("close", &PyWriter::close)
.def("remove_topic", &PyWriter::remove_topic)
.def("create_topic", &PyWriter::create_topic)
.def("take_snapshot", &PyWriter::take_snapshot)
;
Comment on lines +104 to +106
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@JannikJose Out of curiosity why .def("split_bagfile", &PyWriter::split_bagfile) missed from the original PR https://github.com/ros2/rosbag2/pull/1220/files#diff-f3aa422fd35406262b9209321476913d230c5bcd81b395525719e0166395ce90R103 ?


pybind11::class_<PyCompressionWriter>(m, "SequentialCompressionWriter")
.def(pybind11::init())
.def(
"create_topic",
&rosbag2_py::Writer<rosbag2_compression::SequentialCompressionWriter>::create_topic);
"open",
pybind11::overload_cast<
const rosbag2_storage::StorageOptions &, const rosbag2_cpp::ConverterOptions &
>(&PyCompressionWriter::open))
.def("write", &PyCompressionWriter::write)
.def("remove_topic", &PyCompressionWriter::remove_topic)
.def("create_topic", &PyCompressionWriter::create_topic)
.def("take_snapshot", &PyCompressionWriter::take_snapshot)
;

m.def(
"get_registered_writers",
Expand Down