change progress bar string, change 'frequency' terms to 'update rate'

Signed-off-by: Nicola Loi <[email protected]>

ros2bag/ros2bag/verb/play.py

@@ -282,7 +282,7 @@ def main(self, *, args):  # noqa: D102
             play_options.service_requests_source = ServiceRequestsSource.SERVICE_INTROSPECTION
         else:
             play_options.service_requests_source = ServiceRequestsSource.CLIENT_INTROSPECTION
-        play_options.progress_bar_print_frequency = args.progress_bar
+        play_options.progress_bar_update_rate = args.progress_bar
 
         player = Player(args.log_level)
         try:

rosbag2_py/rosbag2_py/_transport.pyi

@@ -17,7 +17,7 @@ class PlayOptions:
     node_prefix: str
     playback_duration: float
     playback_until_timestamp: int
-    progress_bar_print_frequency: float
+    progress_bar_update_rate: float
     publish_service_requests: bool
     rate: float
     read_ahead_queue_size: int

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -556,7 +556,7 @@ PYBIND11_MODULE(_transport, m) {
     "playback_until_timestamp",
     &PlayOptions::getPlaybackUntilTimestamp,
     &PlayOptions::setPlaybackUntilTimestamp)
-  .def_readwrite("progress_bar_print_frequency", &PlayOptions::progress_bar_print_frequency)
+  .def_readwrite("progress_bar_update_rate", &PlayOptions::progress_bar_update_rate)
   .def_readwrite("wait_acked_timeout", &PlayOptions::wait_acked_timeout)
   .def_readwrite("disable_loan_message", &PlayOptions::disable_loan_message)
   .def_readwrite("publish_service_requests", &PlayOptions::publish_service_requests)

rosbag2_transport/include/rosbag2_transport/play_options.hpp

@@ -125,7 +125,7 @@ struct PlayOptions
   ServiceRequestsSource service_requests_source = ServiceRequestsSource::SERVICE_INTROSPECTION;
 
   // Rate in Hz at which to print progress bar.
-  double progress_bar_print_frequency = 3.0;
+  double progress_bar_update_rate = 3.0;
 };
 
 }  // namespace rosbag2_transport

rosbag2_transport/src/rosbag2_transport/play_options.cpp

@@ -59,7 +59,7 @@ Node convert<rosbag2_transport::PlayOptions>::encode(
 
   node["disable_loan_message"] = play_options.disable_loan_message;
 
-  node["progress_bar_print_frequency"] = play_options.progress_bar_print_frequency;
+  node["progress_bar_update_rate"] = play_options.progress_bar_update_rate;
 
   return node;
 }
@@ -117,7 +117,7 @@ bool convert<rosbag2_transport::PlayOptions>::decode(
   optional_assign<bool>(node, "disable_loan_message", play_options.disable_loan_message);
 
   optional_assign<double>(
-    node, "progress_bar_print_frequency", play_options.progress_bar_print_frequency);
+    node, "progress_bar_update_rate", play_options.progress_bar_update_rate);
 
   return true;
 }

rosbag2_transport/src/rosbag2_transport/player.cpp

@@ -317,17 +317,17 @@ class PlayerImpl
   std::atomic_bool is_delayed_status_{false};
 
   void print_progress_bar_help_str() const;
-  // Update progress bar taking into account the frequency set by the user.
+  // Update progress bar taking into account the update rate set by the user.
   // The function should be called for regular progress bar updates, for example
   // after the recurrent message publishing.
-  // Call update_progress_bar_check_frequency function only if the function cannot run
+  // Call update_progress_bar_check_rate function only if the function cannot run
   // contemporaneously in multiple threads, i.e. function calls are already protected by a mutex:
   // to avoid locking overhead no new mutex inside the function is directly protecting
   // the access to the class attribute progress_bar_last_time_updated_.
-  void update_progress_bar_check_frequency(
+  void update_progress_bar_check_rate(
     const rcutils_time_point_value_t & timestamp,
     const PlayerStatus & status);
-  // Update progress bar irrespective of the frequency set by the user.
+  // Update progress bar irrespective of the update rate set by the user.
   // The function should be called for extraordinary progress bar updates, for example
   // when a log message is printed and we want to 'redraw' the progress bar.
   void update_progress_bar(const PlayerStatus & status) const;
@@ -435,10 +435,10 @@ PlayerImpl::PlayerImpl(
   message_queue_(bag_message_chronological_recv_timestamp_comparator),
   keyboard_handler_(std::move(keyboard_handler)),
   player_service_client_manager_(std::make_shared<PlayerServiceClientManager>()),
-  enable_progress_bar_(play_options.progress_bar_print_frequency != 0),
-  progress_bar_update_always_(play_options.progress_bar_print_frequency < 0),
-  progress_bar_update_period_(play_options.progress_bar_print_frequency != 0 ?
-    RCUTILS_S_TO_NS(1.0 / play_options.progress_bar_print_frequency) :
+  enable_progress_bar_(play_options.progress_bar_update_rate != 0),
+  progress_bar_update_always_(play_options.progress_bar_update_rate < 0),
+  progress_bar_update_period_(play_options.progress_bar_update_rate != 0 ?
+    RCUTILS_S_TO_NS(1.0 / play_options.progress_bar_update_rate) :
     std::numeric_limits<int64_t>::max())
 {
   for (auto & topic : play_options_.topics_to_filter) {
@@ -579,8 +579,6 @@ bool PlayerImpl::play()
   }
 
   RCLCPP_INFO_STREAM(owner_->get_logger(), "Playback until timestamp: " << play_until_timestamp_);
-  RCLCPP_INFO_STREAM(owner_->get_logger(), "Duration of the rosbag: " << std::fixed <<
-    std::setprecision(9) << duration_secs_ << " s");
 
   // May need to join the previous thread if we are calling play() a second time
   if (playback_thread_.joinable()) {
@@ -1110,9 +1108,9 @@ void PlayerImpl::play_messages_from_queue()
             finished_play_next_cv_.notify_all();
           }
         } else {
-          // update_progress_bar_check_frequency in this code section is protected
+          // update_progress_bar_check_rate in this code section is protected
           // by the mutex skip_message_in_main_play_loop_mutex_.
-          update_progress_bar_check_frequency(
+          update_progress_bar_check_rate(
              message_ptr->recv_timestamp, PlayerStatus::RUNNING);
         }
       }
@@ -1740,21 +1738,19 @@ void PlayerImpl::print_progress_bar_help_str() const
     } else {
       std::ostringstream oss;
       oss << "Progress bar enabled at " <<
-        play_options_.progress_bar_print_frequency << " Hz";
+        play_options_.progress_bar_update_rate << " Hz";
       help_str = oss.str();
     }
     RCLCPP_INFO_STREAM(owner_->get_logger(), help_str);
-    std::string help_str2 = "Progress bar t: time, d: duration";
+    std::string help_str2 = "Progress bar [?]: [R]unning, [P]aused, [B]urst, [D]elayed";
     RCLCPP_INFO_STREAM(owner_->get_logger(), help_str2);
-    std::string help_str3 = "Progress bar [?]: [R]unning, [P]aused, [B]urst, [D]elayed";
-    RCLCPP_INFO_STREAM(owner_->get_logger(), help_str3);
   } else {
     help_str = "Progress bar disabled";
     RCLCPP_INFO_STREAM(owner_->get_logger(), help_str);
   }
 }
 
-void PlayerImpl::update_progress_bar_check_frequency(
+void PlayerImpl::update_progress_bar_check_rate(
   const rcutils_time_point_value_t & timestamp,
   const PlayerStatus & status)
 {
@@ -1763,7 +1759,7 @@ void PlayerImpl::update_progress_bar_check_frequency(
   }
 
   // If we are not updating the progress bar for every call, check if we should update it now
-  // based on the frequency set by the user
+  // based on the update rate set by the user
   if (!progress_bar_update_always_) {
     std::chrono::steady_clock::time_point steady_time_now = std::chrono::steady_clock::now();
     if (std::chrono::duration_cast<std::chrono::nanoseconds>(
@@ -1783,7 +1779,7 @@ void PlayerImpl::update_progress_bar(const PlayerStatus & status) const
     return;
   }
 
-  // Update progress bar irrespective of the frequency set by the user.
+  // Update progress bar irrespective of the update rate set by the user.
   // Overwrite the input status if we are in a special case.
   if (is_delayed_status_) {
     cout_progress_bar(starting_time_, PlayerStatus::DELAYED);
@@ -1802,9 +1798,9 @@ void PlayerImpl::cout_progress_bar(
   // Spaces before '\r' are to clear any previous progress bar in case the new one is shorter,
   // which can happen when the playback starts a new loop.
   std::ostringstream oss;
-  oss << " Bag t: " << std::setw(13) << std::fixed << std::setprecision(9) <<
-    current_time_secs << " d: " << std::setprecision(9) << progress_secs <<
-    " [" << static_cast<char>(status) << "]      \r";
+  oss << "[" << std::setw(13) << std::fixed << std::setprecision(9) << current_time_secs <<
+    "] Duration " << std::setprecision(2) << progress_secs <<
+    "/" << duration_secs_ << " [" << static_cast<char>(status) << "]      \r";
   std::cout << oss.str() << std::flush;
 }