Rename snapshot_duration_ms to the snapshot_duration

Signed-off-by: Michael Orlov <[email protected]>

ros2bag/ros2bag/verb/record.py

@@ -338,7 +338,7 @@ def main(self, *, args):  # noqa: D102
             storage_preset_profile=args.storage_preset_profile,
             storage_config_uri=storage_config_file,
             snapshot_mode=args.snapshot_mode,
-            snapshot_duration_ms=args.snapshot_duration,
+            snapshot_duration=args.snapshot_duration,
             custom_data=custom_data
         )
         record_options = RecordOptions()

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

@@ -146,7 +146,7 @@ void SequentialWriter::open(
   }
 
   use_cache_ = storage_options.max_cache_size > 0u ||
-    (storage_options.snapshot_mode && storage_options.snapshot_duration_ms > 0);
+    (storage_options.snapshot_mode && storage_options.snapshot_duration > 0);
   if (storage_options.snapshot_mode && !use_cache_) {
     throw std::runtime_error(
             "Either the max cache size or the maximum snapshot duration must be greater than 0"
@@ -155,7 +155,7 @@ void SequentialWriter::open(
 
   if (use_cache_) {
     if (storage_options.snapshot_mode) {
-      int64_t max_buffer_duration_ns = storage_options.snapshot_duration_ms * 1000000;
+      int64_t max_buffer_duration_ns = storage_options.snapshot_duration * 1000000;
       message_cache_ = std::make_shared<rosbag2_cpp::cache::CircularMessageCache>(
         storage_options.max_cache_size, max_buffer_duration_ns);
     } else {

rosbag2_py/rosbag2_py/_storage.pyi

@@ -101,14 +101,14 @@ class StorageOptions:
     max_bagfile_duration: int
     max_bagfile_size: int
     max_cache_size: int
-    snapshot_duration_ms: int
+    snapshot_duration: int
     snapshot_mode: bool
     start_time_ns: int
     storage_config_uri: str
     storage_id: str
     storage_preset_profile: str
     uri: str
-    def __init__(self, uri: str, storage_id: str = ..., max_bagfile_size: int = ..., max_bagfile_duration: int = ..., max_cache_size: int = ..., storage_preset_profile: str = ..., storage_config_uri: str = ..., snapshot_mode: bool = ..., snapshot_duration_ms: int = ..., start_time_ns: int = ..., end_time_ns: int = ..., custom_data: Dict[str, str] = ...) -> None: ...
+    def __init__(self, uri: str, storage_id: str = ..., max_bagfile_size: int = ..., max_bagfile_duration: int = ..., max_cache_size: int = ..., storage_preset_profile: str = ..., storage_config_uri: str = ..., snapshot_mode: bool = ..., snapshot_duration: int = ..., start_time_ns: int = ..., end_time_ns: int = ..., custom_data: Dict[str, str] = ...) -> None: ...
 
 class TopicInformation:
     message_count: int

rosbag2_py/src/rosbag2_py/_storage.cpp

@@ -92,7 +92,7 @@ PYBIND11_MODULE(_storage, m) {
     pybind11::arg("storage_preset_profile") = "",
     pybind11::arg("storage_config_uri") = "",
     pybind11::arg("snapshot_mode") = false,
-    pybind11::arg("snapshot_duration_ms") = 0,
+    pybind11::arg("snapshot_duration") = 0,
     pybind11::arg("start_time_ns") = -1,
     pybind11::arg("end_time_ns") = -1,
     pybind11::arg("custom_data") = KEY_VALUE_MAP{})
@@ -117,8 +117,8 @@ PYBIND11_MODULE(_storage, m) {
     "snapshot_mode",
     &rosbag2_storage::StorageOptions::snapshot_mode)
   .def_readwrite(
-      "snapshot_duration_ms",
-      &rosbag2_storage::StorageOptions::snapshot_duration_ms)
+      "snapshot_duration",
+      &rosbag2_storage::StorageOptions::snapshot_duration)
   .def_readwrite(
     "start_time_ns",
     &rosbag2_storage::StorageOptions::start_time_ns)

rosbag2_storage/include/rosbag2_storage/storage_options.hpp

@@ -58,7 +58,7 @@ struct StorageOptions
 
   // The maximum snapshot duration in milliseconds.
   // A value of 0 indicates that snapshot will be limited by the max_cache_size only.
-  int64_t snapshot_duration_ms = 0;
+  int64_t snapshot_duration = 0;
 
   // Start and end time for cutting
   int64_t start_time_ns = -1;

rosbag2_storage/src/rosbag2_storage/storage_options.cpp

@@ -32,7 +32,7 @@ Node convert<rosbag2_storage::StorageOptions>::encode(
   node["storage_preset_profile"] = storage_options.storage_preset_profile;
   node["storage_config_uri"] = storage_options.storage_config_uri;
   node["snapshot_mode"] = storage_options.snapshot_mode;
-  node["snapshot_duration_ms"] = storage_options.snapshot_duration_ms;
+  node["snapshot_duration"] = storage_options.snapshot_duration;
   node["start_time_ns"] = storage_options.start_time_ns;
   node["end_time_ns"] = storage_options.end_time_ns;
   node["custom_data"] = storage_options.custom_data;
@@ -51,7 +51,7 @@ bool convert<rosbag2_storage::StorageOptions>::decode(
     node, "storage_preset_profile", storage_options.storage_preset_profile);
   optional_assign<std::string>(node, "storage_config_uri", storage_options.storage_config_uri);
   optional_assign<bool>(node, "snapshot_mode", storage_options.snapshot_mode);
-  optional_assign<int64_t>(node, "snapshot_duration_ms", storage_options.snapshot_duration_ms);
+  optional_assign<int64_t>(node, "snapshot_duration", storage_options.snapshot_duration);
   optional_assign<int64_t>(node, "start_time_ns", storage_options.start_time_ns);
   optional_assign<int64_t>(node, "end_time_ns", storage_options.end_time_ns);
   using KEY_VALUE_MAP = std::unordered_map<std::string, std::string>;

rosbag2_storage/test/rosbag2_storage/test_storage_options.cpp

@@ -29,7 +29,7 @@ TEST(storage_options, test_yaml_serialization)
   original.storage_preset_profile = "profile";
   original.storage_config_uri = "config_uri";
   original.snapshot_mode = true;
-  original.snapshot_duration_ms = 1500;
+  original.snapshot_duration = 1500;
   original.start_time_ns = 12345000;
   original.end_time_ns = 23456000;
   original.custom_data["key1"] = "value1";
@@ -51,7 +51,7 @@ TEST(storage_options, test_yaml_serialization)
   ASSERT_EQ(original.storage_preset_profile, reconstructed.storage_preset_profile);
   ASSERT_EQ(original.storage_config_uri, reconstructed.storage_config_uri);
   ASSERT_EQ(original.snapshot_mode, reconstructed.snapshot_mode);
-  ASSERT_EQ(original.snapshot_duration_ms, reconstructed.snapshot_duration_ms);
+  ASSERT_EQ(original.snapshot_duration, reconstructed.snapshot_duration);
   ASSERT_EQ(original.start_time_ns, reconstructed.start_time_ns);
   ASSERT_EQ(original.end_time_ns, reconstructed.end_time_ns);
   ASSERT_EQ(original.custom_data, reconstructed.custom_data);