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Bugfix: Recorder discovery does not restart after being stopped #1894

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merged 2 commits into from
Jan 22, 2025
Merged

Bugfix: Recorder discovery does not restart after being stopped #1894

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9fa268d
Invert start discovery condition
oysstu Jan 9, 2025
b5156d7
Rename stop_discovery to discovery_running and change logic accordingly
oysstu Jan 10, 2025
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16 changes: 8 additions & 8 deletions rosbag2_transport/src/rosbag2_transport/recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ class RecorderImpl

std::mutex start_stop_transition_mutex_;
std::mutex discovery_mutex_;
std::atomic<bool> stop_discovery_ = false;
std::atomic<bool> discovery_running_ = false;
std::atomic_uchar paused_ = 0;
std::atomic<bool> in_recording_ = false;
std::shared_ptr<KeyboardHandler> keyboard_handler_;
Expand Down Expand Up @@ -440,7 +440,7 @@ bool RecorderImpl::is_paused()
void RecorderImpl::start_discovery()
{
std::lock_guard<std::mutex> state_lock(discovery_mutex_);
if (stop_discovery_.exchange(false)) {
if (discovery_running_.exchange(true)) {
RCLCPP_DEBUG(node->get_logger(), "Recorder topic discovery is already running.");
} else {
discovery_future_ =
Expand All @@ -451,10 +451,7 @@ void RecorderImpl::start_discovery()
void RecorderImpl::stop_discovery()
{
std::lock_guard<std::mutex> state_lock(discovery_mutex_);
if (stop_discovery_.exchange(true)) {
RCLCPP_DEBUG(
node->get_logger(), "Recorder topic discovery has already been stopped or not running.");
} else {
if (discovery_running_.exchange(false)) {
if (discovery_future_.valid()) {
auto status = discovery_future_.wait_for(2 * record_options_.topic_polling_interval);
if (status != std::future_status::ready) {
Expand All @@ -465,6 +462,9 @@ void RecorderImpl::stop_discovery()
(status == std::future_status::timeout ? "timeout" : "deferred"));
}
}
} else {
RCLCPP_DEBUG(
node->get_logger(), "Recorder topic discovery has already been stopped or not running.");
}
}

Expand All @@ -475,7 +475,7 @@ void RecorderImpl::topics_discovery()
RCLCPP_INFO(
node->get_logger(),
"use_sim_time set, waiting for /clock before starting recording...");
while (rclcpp::ok() && stop_discovery_ == false) {
while (rclcpp::ok() && discovery_running_) {
if (node->get_clock()->wait_until_started(record_options_.topic_polling_interval)) {
break;
}
Expand All @@ -484,7 +484,7 @@ void RecorderImpl::topics_discovery()
RCLCPP_INFO(node->get_logger(), "Sim time /clock found, starting recording.");
}
}
while (rclcpp::ok() && stop_discovery_ == false) {
while (rclcpp::ok() && discovery_running_) {
try {
auto topics_to_subscribe = get_requested_or_available_topics();
for (const auto & topic_and_type : topics_to_subscribe) {
Expand Down
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