Add cli option compression-threads-priority

ros2bag/ros2bag/verb/record.py

@@ -194,6 +194,10 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
         '--compression-threads', type=int, default=0,
         help='Number of files or messages that may be compressed in parallel. '
              'Default is %(default)d, which will be interpreted as the number of CPU cores.')
+    parser.add_argument(
+        '--compression-threads-priority', type=int, default=0,
+        help='Thread scheduling priority. Use nice value for Linux and '
+             'priority level for Windows. Default is %(default)d.')
     parser.add_argument(
         '--compression-mode', type=str, default='none',
         choices=['none', 'file', 'message'],
@@ -338,6 +342,7 @@ def main(self, *, args):  # noqa: D102
         record_options.compression_format = args.compression_format
         record_options.compression_queue_size = args.compression_queue_size
         record_options.compression_threads = args.compression_threads
+        record_options.compression_threads_priority = args.compression_threads_priority
         record_options.topic_qos_profile_overrides = qos_profile_overrides
         record_options.include_hidden_topics = args.include_hidden_topics
         record_options.include_unpublished_topics = args.include_unpublished_topics

ros2bag/test/test_record_with_compression_thread_priority.py

@@ -0,0 +1,54 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+import tempfile
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+import launch_testing
+import launch_testing.actions
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    tmp_dir_name = tempfile.mkdtemp()
+    output_path = Path(tmp_dir_name) / 'ros2bag_test_record_with_compression_thread_priority'
+    record_process = ExecuteProcess(
+        cmd=['ros2', 'bag', 'record', '-a', '--output', output_path.as_posix(),
+             '--log-level', 'debug', '--compression-threads-priority', '1',
+             '--compression-mode', 'file', '--compression-format', 'zstd'],
+        name='ros2bag-cli',
+        output='screen',
+    )
+
+    return LaunchDescription([
+        record_process,
+        launch_testing.actions.ReadyToTest()
+    ]), locals()
+
+
+class TestRecordWithCompressionThreadPriority(unittest.TestCase):
+
+    def test_priority_propagated_into_compression_thread(
+            self, record_process, proc_output):
+        proc_output.assertWaitFor(
+            'Setting compression thread priority to 1',
+            process=record_process
+        )

rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp

@@ -71,6 +71,8 @@ SequentialCompressionWriter::~SequentialCompressionWriter()
 void SequentialCompressionWriter::compression_thread_fn()
 {
   if (compression_options_.thread_priority) {
+    ROSBAG2_COMPRESSION_LOG_DEBUG_STREAM("Setting compression thread priority to "
+      << *compression_options_.thread_priority);
 #ifdef _WIN32
     // This must match THREAD_PRIORITY_IDLE, THREAD_PRIORITY_LOWEST...
     int wanted_thread_priority = *compression_options_.thread_priority;

rosbag2_py/src/rosbag2_py/_transport.cpp

@@ -573,6 +573,7 @@ PYBIND11_MODULE(_transport, m) {
   .def_readwrite("compression_format", &RecordOptions::compression_format)
   .def_readwrite("compression_queue_size", &RecordOptions::compression_queue_size)
   .def_readwrite("compression_threads", &RecordOptions::compression_threads)
+  .def_readwrite("compression_threads_priority", &RecordOptions::compression_threads_priority)
   .def_property(
     "topic_qos_profile_overrides",
     &RecordOptions::getTopicQoSProfileOverrides,