rosbag2_py reader and writer

rosbag2/package.xml

@@ -13,6 +13,7 @@
   <exec_depend>rosbag2_compression</exec_depend>
   <exec_depend>rosbag2_converter_default_plugins</exec_depend>
   <exec_depend>rosbag2_cpp</exec_depend>
+  <exec_depend>rosbag2_py</exec_depend>
   <exec_depend>rosbag2_storage</exec_depend>
   <exec_depend>rosbag2_storage_default_plugins</exec_depend>
   <exec_depend>rosbag2_transport</exec_depend>

rosbag2_py/CMakeLists.txt

@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbag2_py)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(python_cmake_module REQUIRED)
+find_package(rosbag2_compression REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(rosbag2_storage REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+pybind11_add_module(_reader SHARED
+  src/rosbag2_py/_reader.cpp
+)
+ament_target_dependencies(_reader PUBLIC
+  "rosbag2_compression"
+  "rosbag2_cpp"
+)
+
+pybind11_add_module(_storage SHARED
+  src/rosbag2_py/_storage.cpp
+)
+ament_target_dependencies(_storage PUBLIC
+  "rosbag2_cpp"
+  "rosbag2_storage"
+)
+
+pybind11_add_module(_writer SHARED
+  src/rosbag2_py/_writer.cpp
+)
+ament_target_dependencies(_writer PUBLIC
+  "rosbag2_compression"
+  "rosbag2_cpp"
+)
+
+# Install cython modules as sub-modules of the project
+install(
+  TARGETS
+    _reader
+    _storage
+    _writer
+  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_pytest REQUIRED)
+
+  set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
+  if(WIN32 AND "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+    set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
+  endif()
+  set(pythonpath "${CMAKE_CURRENT_BINARY_DIR}/rosbag2_py;${CMAKE_CURRENT_SOURCE_DIR}")
+  if(NOT WIN32)
+    string(REPLACE ";" ":" pythonpath "${pythonpath}")
+  endif()
+  ament_add_pytest_test(test_sequential_reader_py "test/test_sequential_reader.py"
+    PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
+    APPEND_ENV "PYTHONPATH=${pythonpath}"
+    APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/resources"
+  )
+  ament_add_pytest_test(test_sequential_writer_py "test/test_sequential_writer.py"
+    PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}"
+    APPEND_ENV "PYTHONPATH=${pythonpath}"
+    APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/resources"
+  )
+endif()
+
+ament_package()

rosbag2_py/package.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosbag2_py</name>
+  <version>0.2.4</version>
+  <description>Python API for rosbag2</description>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="ros-tooling@googlegroups.com">ROS Tooling Working Group</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="mabel@openrobotics.org">Mabel Zhang</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>pybind11_vendor</depend>
+  <depend>python_cmake_module</depend>
+  <depend>rosbag2_compression</depend>
+  <depend>rosbag2_cpp</depend>
+  <depend>rosbag2_storage</depend>
+
+  <exec_depend>rpyutils</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>rcl_interfaces</test_depend>
+  <test_depend>rclpy</test_depend>
+  <test_depend>rosbag2_converter_default_plugins</test_depend>
+  <test_depend>rosbag2_storage_default_plugins</test_depend>
+  <test_depend>rosbag2_storage</test_depend>
+  <test_depend>rosidl_runtime_py</test_depend>
+  <test_depend>rpyutils</test_depend>
+  <test_depend>std_msgs</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosbag2_py/pytest.ini

@@ -0,0 +1,2 @@
+[pytest]
+junit_family=xunit2

rosbag2_py/resources/talker/metadata.yaml

@@ -0,0 +1,31 @@
+rosbag2_bagfile_information:
+  version: 4
+  storage_identifier: sqlite3
+  relative_file_paths:
+    - talker.db3
+  duration:
+    nanoseconds: 4531096768
+  starting_time:
+    nanoseconds_since_epoch: 1585866235112411371
+  message_count: 20
+  topics_with_message_count:
+    - topic_metadata:
+        name: /topic
+        type: std_msgs/msg/String
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+      message_count: 10
+    - topic_metadata:
+        name: /rosout
+        type: rcl_interfaces/msg/Log
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 10\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+      message_count: 10
+    - topic_metadata:
+        name: /parameter_events
+        type: rcl_interfaces/msg/ParameterEvent
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+      message_count: 0
+  compression_format: ""
+  compression_mode: ""

rosbag2_py/rosbag2_py/__init__.py

@@ -0,0 +1,42 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rpyutils import add_dll_directories_from_env
+
+# Since Python 3.8, on Windows we should ensure DLL directories are explicitly added
+# to the search path.
+# See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
+with add_dll_directories_from_env('PATH'):
+    from rosbag2_py._reader import \
+        SequentialCompressionReader, \
+        SequentialReader
+    from rosbag2_py._storage import \
+        ConverterOptions, \
+        StorageFilter, \
+        StorageOptions, \
+        TopicMetadata
+    from rosbag2_py._writer import \
+        SequentialCompressionWriter, \
+        SequentialWriter
+
+__all__ = [
+    'ConverterOptions',
+    'SequentialCompressionReader',
+    'SequentialCompressionWriter',
+    'SequentialReader',
+    'SequentialWriter',
+    'StorageFilter',
+    'StorageOptions',
+    'TopicMetadata',
+]

rosbag2_py/src/rosbag2_py/_reader.cpp

@@ -0,0 +1,120 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "rosbag2_compression/sequential_compression_reader.hpp"
+#include "rosbag2_cpp/converter_options.hpp"
+#include "rosbag2_cpp/readers/sequential_reader.hpp"
+#include "rosbag2_cpp/reader.hpp"
+#include "rosbag2_cpp/storage_options.hpp"
+#include "rosbag2_storage/storage_filter.hpp"
+#include "rosbag2_storage/topic_metadata.hpp"
+
+namespace rosbag2_py
+{
+
+template<typename T>
+class Reader
+{
+public:
+  Reader()
+  : reader_(std::make_unique<rosbag2_cpp::Reader>(std::make_unique<T>()))
+  {
+  }
+
+  void open(
+    rosbag2_cpp::StorageOptions & storage_options,
+    rosbag2_cpp::ConverterOptions & converter_options)
+  {
+    reader_->open(storage_options, converter_options);
+  }
+
+  bool has_next()
+  {
+    return reader_->has_next();
+  }
+
+  /// Return a tuple containing the topic name, the serialized ROS message, and
+  /// the timestamp.
+  pybind11::tuple read_next()
+  {
+    const auto next = reader_->read_next();
+    rcutils_uint8_array_t rcutils_data = *next->serialized_data.get();
+    std::string serialized_data(rcutils_data.buffer,
+      rcutils_data.buffer + rcutils_data.buffer_length);
+    return pybind11::make_tuple(
+      next->topic_name, pybind11::bytes(serialized_data), next->time_stamp);
+  }
+
+  /// Return a mapping from topic name to topic type.
+  std::vector<rosbag2_storage::TopicMetadata> get_all_topics_and_types()
+  {
+    return reader_->get_all_topics_and_types();
+  }
+
+  void set_filter(const rosbag2_storage::StorageFilter & storage_filter)
+  {
+    return reader_->set_filter(storage_filter);
+  }
+
+  void reset_filter()
+  {
+    reader_->reset_filter();
+  }
+
+protected:
+  std::unique_ptr<rosbag2_cpp::Reader> reader_;
+};
+}  // namespace rosbag2_py
+
+PYBIND11_MODULE(_reader, m) {
+  m.doc() = "Python wrapper of the rosbag2_cpp reader API";
+
+  pybind11::class_<rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>>(
+    m, "SequentialReader")
+  .def(pybind11::init())
+  .def("open", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::open)
+  .def("read_next", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::read_next)
+  .def("has_next", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::has_next)
+  .def(
+    "get_all_topics_and_types",
+    &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::get_all_topics_and_types)
+  .def("set_filter", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::set_filter)
+  .def("reset_filter", &rosbag2_py::Reader<rosbag2_cpp::readers::SequentialReader>::reset_filter);
+
+  pybind11::class_<rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>>(
+    m, "SequentialCompressionReader")
+  .def(pybind11::init())
+  .def("open", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::open)
+  .def(
+    "read_next", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::read_next)
+  .def("has_next", &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::has_next)
+  .def(
+    "get_all_topics_and_types",
+    &rosbag2_py::Reader<
+      rosbag2_compression::SequentialCompressionReader
+    >::get_all_topics_and_types)
+  .def(
+    "set_filter",
+    &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::set_filter)
+  .def(
+    "reset_filter",
+    &rosbag2_py::Reader<rosbag2_compression::SequentialCompressionReader>::reset_filter);
+}