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Import rosbag2_transport Python module on demand #190

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Oct 21, 2019
Merged

Import rosbag2_transport Python module on demand #190

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35e013d
Import rosbag2_transport Python module on demand.
hidmic Oct 21, 2019
3b2c58a
Add implementation notes to explain on demand imports.
hidmic Oct 21, 2019
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9 changes: 6 additions & 3 deletions ros2bag/ros2bag/verb/info.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,6 @@

from ros2bag.verb import VerbExtension

from rosbag2_transport import rosbag2_transport_py


class InfoVerb(VerbExtension):
"""ros2 bag info."""
Expand All @@ -34,5 +32,10 @@ def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "[ERROR] [ros2bag]: bag file '{}' does not exist!".format(bag_file)

# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.info(uri=bag_file, storage_id=args.storage)
8 changes: 6 additions & 2 deletions ros2bag/ros2bag/verb/play.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@

from ros2bag.verb import VerbExtension
from ros2cli.node import NODE_NAME_PREFIX
from rosbag2_transport import rosbag2_transport_py


class PlayVerb(VerbExtension):
Expand All @@ -38,7 +37,12 @@ def main(self, *, args): # noqa: D102
bag_file = args.bag_file
if not os.path.exists(bag_file):
return "[ERROR] [ros2bag] bag file '{}' does not exist!".format(bag_file)

# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py
rosbag2_transport_py.play(
uri=bag_file,
storage_id=args.storage,
Expand Down
15 changes: 14 additions & 1 deletion ros2bag/ros2bag/verb/record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
from ros2cli.node.strategy import NodeStrategy
from ros2cli.node.strategy import add_arguments
from ros2cli.node import NODE_NAME_PREFIX
from rosbag2_transport import rosbag2_transport_py


class RecordVerb(VerbExtension):
Expand Down Expand Up @@ -73,6 +72,13 @@ def main(self, *, args): # noqa: D102
self.create_bag_directory(uri)

if args.all:
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py

rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
Expand All @@ -82,6 +88,13 @@ def main(self, *, args): # noqa: D102
no_discovery=args.no_discovery,
polling_interval=args.polling_interval)
elif args.topics and len(args.topics) > 0:
# NOTE(hidmic): in merged install workspaces on Windows, Python entrypoint lookups
# combined with constrained environments (as imposed by colcon test)
# may result in DLL loading failures when attempting to import a C
# extension. Therefore, do not import rosbag2_transport at the module
# level but on demand, right before first use.
from rosbag2_transport import rosbag2_transport_py

rosbag2_transport_py.record(
uri=uri,
storage_id=args.storage,
Expand Down