Foxy compatibility - README update for usage - and notice in the CLI …

…tool

Signed-off-by: Emerson Knapp <[email protected]>

.github/workflows/test.yml

@@ -15,20 +15,23 @@ jobs:
     container:
       image: rostooling/setup-ros-docker:ubuntu-focal-latest
     steps:
-    - uses: ros-tooling/action-ros-ci@0.1.0
+    - uses: ros-tooling/action-ros-ci@v0.1
       with:
         package-name: |
           ros2bag
           rosbag2_compression
+          rosbag2_compression_zstd
           rosbag2_cpp
           rosbag2_storage
           rosbag2_storage_default_plugins
+          rosbag2_test_common
+          rosbag2_tests
           rosbag2_transport
           shared_queues_vendor
           sqlite3_vendor
-          rosbag2_test_common
-          rosbag2_tests
-        target-ros2-distro: rolling
+          zstd_vendor
+        target-ros2-distro: foxy
+        vcs-repo-file-url: ""
     - uses: actions/upload-artifact@v1
       with:
         name: colcon-logs

README.md

@@ -1,18 +1,28 @@
+# Foxy Improvement Backport Branch
+
+This branch contains a special-purpose version of rosbag2 that is intended to be used in a Foxy application.
+
+It contains performance improvements and new features from Galactic development up to March 23, 2021 - with minor tweaks to maintain build and test compatibility against the stable Foxy distribution.
+
+The popularly-requested improvements in this branch were not possible to backport to Foxy in an API/ABI-maintaining way. Instead, this "Foxy Future" branch is provided for users to build from source and get the performance benefits from nearly a year of development after Foxy.
+
+For more context on this conversation, see https://discourse.ros.org/t/fast-forward-merging-rosbag2-master-api-to-foxy/18927
+
+## Usage instructions
+
+* Check out this branch `foxy-future` from the repository `github.com/ros2/rosbag2` into your ROS workspace (or an overlay workspace)
+* Build like the other ROS packages you use
+
+This branch of rosbag2 will mask the binary-released version, allowing to you to enjoy this very improved version.
+
+NOTE: Any code that built against the rosbag2 C++ API may not build out of the box against this version, the main reason for the branch is that the APIs changed in some ways that could not be fixed into a backport.
+
 # rosbag2
 ![License](https://img.shields.io/github/license/ros2/rosbag2)
 [![GitHub Action Status](https://github.com/ros2/rosbag2/workflows/Test%20rosbag2/badge.svg)](https://github.com/ros2/rosbag2/actions)
 
 Repository for implementing rosbag2 as described in its corresponding [design article](https://github.com/ros2/design/blob/f69fbbd11848e3dd6866b71a158a1902e31e92f1/articles/rosbags.md).
 
-## Foxy Backport Release
-
-NOTE: this branch will contain the sources for the package `ros-foxy-rosbag2-future`, an updated package containing new performance improvements and features that could not be safely backported to `ros-foxy-rosbag2` in the Foxy Fitzroy distribution without breaking API/ABI. This branch is NOT YET STABLE and will be force-pushed during the release process.
-
-This to-do list will be removed as the updates are made to this branch:
-* [ ] Rename all `package.xml`s with `-future` package name suffix and `<conflicts>` tag
-* [ ] Update this README to ensure correct installation and usage instructions
-* [ ] Finalize the `master` commit that this will be based on
-
 ## Installation instructions
 
 ## Debian packages

ros2bag/ros2bag/command/bag.py

@@ -19,6 +19,8 @@
 class BagCommand(CommandExtension):
     """Various rosbag related sub-commands."""
 
+    FUTURE_NOTICE = 'NOTE: Running rosbag2 "futurized" source release, not the official Foxy binary version.'  # NOQA
+
     def add_arguments(self, parser, cli_name):
         self._subparser = parser
 
@@ -27,6 +29,8 @@ def add_arguments(self, parser, cli_name):
             parser, cli_name, '_verb', 'ros2bag.verb', required=False)
 
     def main(self, *, parser, args):
+        print(self.FUTURE_NOTICE)
+        print()
         if not hasattr(args, '_verb'):
             # in case no verb was passed
             self._subparser.print_help()

rosbag2_compression/src/rosbag2_compression/sequential_compression_reader.cpp

@@ -67,7 +67,8 @@ void SequentialCompressionReader::preprocess_current_file()
      * Because we have no way to check whether the bag was written correctly,
      * check for the existence of the prefixed file as a fallback.
      */
-    const rcpputils::fs::path base{base_folder_};
+    // Foxy compatibility. Adapts for https://github.com/ros2/rcpputils/pull/119
+    rcpputils::fs::path base{base_folder_};
     const rcpputils::fs::path relative{get_current_file()};
     const auto resolved = base / relative;
     if (!resolved.exists()) {

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

@@ -110,6 +110,8 @@ void SequentialWriter::open(
   }
 
   bool dir_created = rcpputils::fs::create_directories(db_path);
+  // Foxy compatibility. Adapts for https://github.com/ros2/rcpputils/pull/98
+  dir_created &= db_path.is_directory();
   if (!dir_created) {
     std::stringstream error;
     error << "Failed to create database directory (" << db_path.string() << ").";

rosbag2_storage/src/rosbag2_storage/metadata_io.cpp

@@ -232,12 +232,8 @@ BagMetadata MetadataIo::read_metadata(const std::string & uri)
     YAML::Node yaml_file = YAML::LoadFile(get_metadata_file_name(uri));
     auto metadata = yaml_file["rosbag2_bagfile_information"].as<rosbag2_storage::BagMetadata>();
     rcutils_allocator_t allocator = rcutils_get_default_allocator();
-    if (RCUTILS_RET_OK !=
-      rcutils_calculate_directory_size(uri.c_str(), &metadata.bag_size, allocator))
-    {
-      throw std::runtime_error(
-              std::string("Exception on calculating the size of directory :") + uri);
-    }
+    // Foxy compatibility. Adapts for https://github.com/ros2/rcutils/pull/306
+    metadata.bag_size = rcutils_calculate_directory_size(uri.c_str(), allocator);
     return metadata;
   } catch (const YAML::Exception & ex) {
     throw std::runtime_error(std::string("Exception on parsing info file: ") + ex.what());

rosbag2_test_common/include/rosbag2_test_common/temporary_directory_fixture.hpp

@@ -31,7 +31,18 @@ class TemporaryDirectoryFixture : public Test
 public:
   TemporaryDirectoryFixture()
   {
-    temporary_dir_path_ = rcpputils::fs::create_temp_directory("tmp_test_dir_").string();
+    // Foxy compatibility. Adapt for lack of https://github.com/ros2/rcpputils/pull/126
+    char template_char[] = "tmp_test_dir.XXXXXX";
+    #ifdef _WIN32
+    char temp_path[255];
+    GetTempPathA(255, temp_path);
+    _mktemp_s(template_char, strnlen(template_char, 20) + 1);
+    temporary_dir_path_ = std::string(temp_path) + std::string(template_char);
+    _mkdir(temporary_dir_path_.c_str());
+    #else
+    char * dir_name = mkdtemp(template_char);
+    temporary_dir_path_ = dir_name;
+    #endif
   }
 
   ~TemporaryDirectoryFixture() override

rosbag2_transport/src/rosbag2_transport/qos.cpp

@@ -21,6 +21,51 @@
 
 namespace
 {
+
+// Foxy compatibility - copied from Galactic version of rmw/time.c
+typedef rcutils_duration_value_t rmw_duration_t;
+// we can't use the Galactic version of this constant because Foxy RMWs won't understand it
+static const rmw_time_t RMW_DURATION_INFINITE {0LL, 0LL};
+
+
+rmw_duration_t
+rmw_time_total_nsec(const rmw_time_t time)
+{
+  static const uint64_t max_sec = INT64_MAX / RCUTILS_S_TO_NS(1);
+  if (time.sec > max_sec) {
+    // Seconds not representable in nanoseconds
+    return INT64_MAX;
+  }
+
+  const int64_t sec_as_nsec = RCUTILS_S_TO_NS(time.sec);
+  if (time.nsec > (uint64_t)(INT64_MAX - sec_as_nsec)) {
+    // overflow
+    return INT64_MAX;
+  }
+  return sec_as_nsec + time.nsec;
+}
+
+bool
+rmw_time_equal(const rmw_time_t left, const rmw_time_t right)
+{
+  return rmw_time_total_nsec(left) == rmw_time_total_nsec(right);
+}
+
+rmw_time_t
+rmw_time_from_nsec(const rmw_duration_t nanoseconds)
+{
+  if (nanoseconds < 0) {
+    return (rmw_time_t)RMW_DURATION_INFINITE;
+  }
+
+  // Avoid typing the 1 billion constant
+  rmw_time_t time;
+  time.sec = RCUTILS_NS_TO_S(nanoseconds);
+  time.nsec = nanoseconds % RCUTILS_S_TO_NS(1);
+  return time;
+}
+/// End Foxy compatibility section
+
 /**
  * The following constants were the "Inifinity" value returned by RMW implementations before
  * the introduction of RMW_DURATION_INFINITE and associated RMW fixes

rosbag2_transport/test/rosbag2_transport/test_qos.cpp

@@ -21,6 +21,54 @@
 
 #include "qos.hpp"
 
+
+namespace
+{
+// Foxy compatibility - copied from Galactic version of rmw/time.c
+typedef rcutils_duration_value_t rmw_duration_t;
+// we can't use the Galactic version of this constant because Foxy RMWs won't understand it
+static const rmw_time_t RMW_DURATION_INFINITE {0LL, 0LL};
+
+
+rmw_duration_t
+rmw_time_total_nsec(const rmw_time_t time)
+{
+  static const uint64_t max_sec = INT64_MAX / RCUTILS_S_TO_NS(1);
+  if (time.sec > max_sec) {
+    // Seconds not representable in nanoseconds
+    return INT64_MAX;
+  }
+
+  const int64_t sec_as_nsec = RCUTILS_S_TO_NS(time.sec);
+  if (time.nsec > (uint64_t)(INT64_MAX - sec_as_nsec)) {
+    // overflow
+    return INT64_MAX;
+  }
+  return sec_as_nsec + time.nsec;
+}
+
+bool
+rmw_time_equal(const rmw_time_t left, const rmw_time_t right)
+{
+  return rmw_time_total_nsec(left) == rmw_time_total_nsec(right);
+}
+
+rmw_time_t
+rmw_time_from_nsec(const rmw_duration_t nanoseconds)
+{
+  if (nanoseconds < 0) {
+    return (rmw_time_t)RMW_DURATION_INFINITE;
+  }
+
+  // Avoid typing the 1 billion constant
+  rmw_time_t time;
+  time.sec = RCUTILS_NS_TO_S(nanoseconds);
+  time.nsec = nanoseconds % RCUTILS_S_TO_NS(1);
+  return time;
+}
+/// End Foxy compatibility section
+}  // namespace
+
 TEST(TestQoS, serialization)
 {
   rosbag2_transport::Rosbag2QoS expected_qos;