From eb06a3ab304261cc7eb7636e85ca017ebba50546 Mon Sep 17 00:00:00 2001
From: Martin Idel <external.Martin.Idel@bosch-si.com>
Date: Mon, 26 Nov 2018 11:43:30 +0100
Subject: [PATCH] GH-27 Provide polling frequency as option

- make option available in RecordOptions
- set to 100ms for now
---
 .../include/rosbag2_transport/record_options.hpp       |  2 ++
 rosbag2_transport/src/rosbag2_transport/recorder.cpp   | 10 ++++++----
 rosbag2_transport/src/rosbag2_transport/recorder.hpp   |  3 ++-
 .../src/rosbag2_transport/rosbag2_transport_python.cpp |  2 ++
 .../test/rosbag2_transport/test_record.cpp             |  2 +-
 .../test/rosbag2_transport/test_record_all.cpp         |  2 +-
 6 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/rosbag2_transport/include/rosbag2_transport/record_options.hpp b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
index ebb4154bfd..9d4a3d7428 100644
--- a/rosbag2_transport/include/rosbag2_transport/record_options.hpp
+++ b/rosbag2_transport/include/rosbag2_transport/record_options.hpp
@@ -15,6 +15,7 @@
 #ifndef ROSBAG2_TRANSPORT__RECORD_OPTIONS_HPP_
 #define ROSBAG2_TRANSPORT__RECORD_OPTIONS_HPP_
 
+#include <chrono>
 #include <string>
 #include <vector>
 
@@ -26,6 +27,7 @@ struct RecordOptions
   bool all;
   std::vector<std::string> topics;
   std::string rmw_serialization_format;
+  std::chrono::milliseconds topic_polling_frequency;
 };
 
 }  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
index 4107503f28..c9928d11e8 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -34,7 +34,8 @@ Recorder::Recorder(std::shared_ptr<rosbag2::Writer> writer, std::shared_ptr<Rosb
 void Recorder::record(const RecordOptions & record_options)
 {
   ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
-  auto discovery_future = launch_topics_discovery(record_options.topics);
+  auto discovery_future = launch_topics_discovery(
+    record_options.topic_polling_frequency, record_options.topics);
   rclcpp::spin(node_);
   discovery_future.wait();
   subscriptions_.clear();
@@ -64,9 +65,10 @@ Recorder::create_subscription(
   return subscription;
 }
 
-std::future<void> Recorder::launch_topics_discovery(std::vector<std::string> topics)
+std::future<void> Recorder::launch_topics_discovery(
+  std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics)
 {
-  auto subscribe_to_topics = [this, topics] {
+  auto subscribe_to_topics = [this, topics, topic_polling_frequency] {
       while (rclcpp::ok()) {
         auto all_topics_and_types = topics.empty() ?
           node_->get_all_topics_with_types() :
@@ -91,7 +93,7 @@ std::future<void> Recorder::launch_topics_discovery(std::vector<std::string> top
             }
           }
         }
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        std::this_thread::sleep_for(topic_polling_frequency);
       }
     };
 
diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
index 3cfb8fe5de..5c0a1ab3b5 100644
--- a/rosbag2_transport/src/rosbag2_transport/recorder.hpp
+++ b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -43,7 +43,8 @@ class Recorder
 private:
   std::shared_ptr<GenericSubscription> create_subscription(
     const std::string & topic_name, const std::string & topic_type);
-  std::future<void> launch_topics_discovery(std::vector<std::string> topics = {});
+  std::future<void> launch_topics_discovery(
+    std::chrono::milliseconds topic_polling_frequency, std::vector<std::string> topics = {});
 
   std::shared_ptr<rosbag2::Writer> writer_;
   std::shared_ptr<Rosbag2Node> node_;
diff --git a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
index 05c6b1ab2d..661113ad45 100644
--- a/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
+++ b/rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <Python.h>
+#include <chrono>
 #include <string>
 #include <vector>
 
@@ -48,6 +49,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
   record_options.all = all;
+  record_options.topic_polling_frequency = std::chrono::milliseconds(100);
 
   if (topics) {
     PyObject * topic_iterator = PyObject_GetIter(topics);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record.cpp b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
index 5157533990..cad03c8f30 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record.cpp
@@ -37,7 +37,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   string_message->string_value = "Hello World";
   std::string string_topic = "/string_topic";
 
-  start_recording({false, {string_topic, array_topic}});
+  start_recording({false, {string_topic, array_topic}, 100ms});
 
   pub_man_.add_publisher<test_msgs::msg::Primitives>(
     string_topic, string_message, 2);
diff --git a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
index 743d4ef356..b9aaf7fa83 100644
--- a/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
+++ b/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
@@ -40,7 +40,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
   pub_man_.add_publisher<test_msgs::msg::Primitives>(string_topic, string_message, 2);
   pub_man_.add_publisher<test_msgs::msg::StaticArrayPrimitives>(array_topic, array_message, 2);
 
-  start_recording({true, {}, ""});
+  start_recording({true, {}, "", 100ms});
   run_publishers();
   stop_recording();