From aa698aeac12eaa708ad4fad1a53a2e8eab9a7789 Mon Sep 17 00:00:00 2001
From: Geoffrey Biggs <gbiggs@killbots.net>
Date: Tue, 15 Feb 2022 21:45:55 +0900
Subject: [PATCH] Add play-for to the CLI

Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net>
---
 ros2bag/ros2bag/verb/play.py             | 10 +++++++++-
 rosbag2_py/src/rosbag2_py/_transport.cpp |  9 ++++++---
 2 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/ros2bag/ros2bag/verb/play.py b/ros2bag/ros2bag/verb/play.py
index d82f1a2a7b..9f8a4f1791 100644
--- a/ros2bag/ros2bag/verb/play.py
+++ b/ros2bag/ros2bag/verb/play.py
@@ -105,6 +105,10 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
                  "Note that this option is valid only if the publisher\'s QOS profile is "
                  'RELIABLE.',
             metavar='TIMEOUT')
+        parser.add_argument(
+            '-f', '--duration', type=float, default=None,
+            help='Play for SEC seconds. Default is None, meaning that playback will continue '
+                 'until the end of the bag. Valid range > 0.0')
 
     def main(self, *, args):  # noqa: D102
         qos_profile_overrides = {}  # Specify a valid default
@@ -145,5 +149,9 @@ def main(self, *, args):  # noqa: D102
         play_options.start_offset = args.start_offset
         play_options.wait_acked_timeout = args.wait_for_all_acked
 
+        # Gets the duration in nanoseconds when a value is provided for player
+        # consumption.
+        duration = int(args.duration * 1e9) if args.duration else args.duration
+
         player = Player()
-        player.play(storage_options, play_options)
+        player.play(storage_options, play_options, duration)
diff --git a/rosbag2_py/src/rosbag2_py/_transport.cpp b/rosbag2_py/src/rosbag2_py/_transport.cpp
index c11ca23929..a6e45e3af8 100644
--- a/rosbag2_py/src/rosbag2_py/_transport.cpp
+++ b/rosbag2_py/src/rosbag2_py/_transport.cpp
@@ -120,7 +120,8 @@ class Player
 
   void play(
     const rosbag2_storage::StorageOptions & storage_options,
-    PlayOptions & play_options)
+    PlayOptions & play_options,
+    const std::optional<rcutils_duration_value_t> & duration)
   {
     auto reader = rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);
     auto player = std::make_shared<rosbag2_transport::Player>(
@@ -132,7 +133,7 @@ class Player
       [&exec]() {
         exec.spin();
       });
-    player->play();
+    player->play(duration);
 
     exec.cancel();
     spin_thread.join();
@@ -275,7 +276,9 @@ PYBIND11_MODULE(_transport, m) {
 
   py::class_<rosbag2_py::Player>(m, "Player")
   .def(py::init())
-  .def("play", &rosbag2_py::Player::play)
+  .def(
+    "play", &rosbag2_py::Player::play, py::arg("storage_options"), py::arg(
+      "play_options"), py::arg("duration") = std::nullopt)
   ;
 
   py::class_<rosbag2_py::Recorder>(m, "Recorder")