ros2
diff --git a/‎rosbag2_transport/include/rosbag2_transport/player.hpp
+27-109 b/‎rosbag2_transport/include/rosbag2_transport/player.hpp
+27-109
@@ -62,6 +62,9 @@ class Reader;
 
 namespace rosbag2_transport
 {
+
+class PlayerImpl;
+
 class Player : public rclcpp::Node
 {
 public:
@@ -200,118 +203,33 @@ class Player : public rclcpp::Node
   void delete_on_play_message_callback(const callback_handle_t & handle);
 
 protected:
-  struct play_msg_callback_data
-  {
-    callback_handle_t handle;
-    play_msg_callback_t callback;
-  };
-
-  std::mutex on_play_msg_callbacks_mutex_;
-  std::forward_list<play_msg_callback_data> on_play_msg_pre_callbacks_;
-  std::forward_list<play_msg_callback_data> on_play_msg_post_callbacks_;
-
-  class PlayerPublisher final
-  {
-public:
-    explicit PlayerPublisher(
-      std::shared_ptr<rclcpp::GenericPublisher> pub,
-      bool disable_loan_message)
-    : publisher_(std::move(pub))
-    {
-      using std::placeholders::_1;
-      if (disable_loan_message || !publisher_->can_loan_messages()) {
-        publish_func_ = std::bind(&rclcpp::GenericPublisher::publish, publisher_, _1);
-      } else {
-        publish_func_ = std::bind(&rclcpp::GenericPublisher::publish_as_loaned_msg, publisher_, _1);
-      }
-    }
-
-    ~PlayerPublisher() {}
-
-    void publish(const rclcpp::SerializedMessage & message)
-    {
-      publish_func_(message);
-    }
-
-    std::shared_ptr<rclcpp::GenericPublisher> generic_publisher()
-    {
-      return publisher_;
-    }
+  /// \brief Getter for publishers corresponding to each topic
+  /// \return Hashtable representing topic to publisher map excluding inner clock_publisher
+  ROSBAG2_TRANSPORT_PUBLIC
+  std::unordered_map<std::string, std::shared_ptr<rclcpp::GenericPublisher>> get_publishers();
 
-private:
-    std::shared_ptr<rclcpp::GenericPublisher> publisher_;
-    std::function<void(const rclcpp::SerializedMessage &)> publish_func_;
-  };
-  bool is_ready_to_play_from_queue_{false};
-  std::mutex ready_to_play_from_queue_mutex_;
-  std::condition_variable ready_to_play_from_queue_cv_;
-  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr clock_publisher_;
-  std::unordered_map<std::string, std::shared_ptr<PlayerPublisher>> publishers_;
+  /// \brief Getter for inner clock_publisher
+  /// \return Shared pointer to the inner clock_publisher
+  ROSBAG2_TRANSPORT_PUBLIC
+  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr get_clock_publisher();
+
+  /// \brief Blocks and wait on condition variable until first message will be taken from read
+  /// queue
+  ROSBAG2_TRANSPORT_PUBLIC
+  void wait_for_playback_to_start();
+
+  /// \brief Getter for the number of registered on_play_msg_pre_callbacks
+  /// \return Number of registered on_play_msg_pre_callbacks
+  ROSBAG2_TRANSPORT_PUBLIC
+  size_t get_number_of_registered_on_play_msg_pre_callbacks();
+
+  /// \brief Getter for the number of registered on_play_msg_post_callbacks
+  /// \return Number of registered on_play_msg_post_callbacks
+  ROSBAG2_TRANSPORT_PUBLIC
+  size_t get_number_of_registered_on_play_msg_post_callbacks();
 
 private:
-  rosbag2_storage::SerializedBagMessageSharedPtr peek_next_message_from_queue();
-  void load_storage_content();
-  bool is_storage_completely_loaded() const;
-  void enqueue_up_to_boundary(size_t boundary) RCPPUTILS_TSA_REQUIRES(reader_mutex_);
-  void wait_for_filled_queue() const;
-  void play_messages_from_queue();
-  void prepare_publishers();
-  bool publish_message(rosbag2_storage::SerializedBagMessageSharedPtr message);
-  static callback_handle_t get_new_on_play_msg_callback_handle();
-  void add_key_callback(
-    KeyboardHandler::KeyCode key,
-    const std::function<void()> & cb,
-    const std::string & op_name);
-  void add_keyboard_callbacks();
-  void create_control_services();
-  void configure_play_until_timestamp();
-  bool shall_stop_at_timestamp(const rcutils_time_point_value_t & msg_timestamp) const;
-
-  static constexpr double read_ahead_lower_bound_percentage_ = 0.9;
-  static const std::chrono::milliseconds queue_read_wait_period_;
-  std::atomic_bool cancel_wait_for_next_message_{false};
-  std::atomic_bool stop_playback_{false};
-
-  std::mutex reader_mutex_;
-  std::unique_ptr<rosbag2_cpp::Reader> reader_ RCPPUTILS_TSA_GUARDED_BY(reader_mutex_);
-
-  void publish_clock_update();
-  void publish_clock_update(const rclcpp::Time & time);
-
-  rosbag2_storage::StorageOptions storage_options_;
-  rosbag2_transport::PlayOptions play_options_;
-  rcutils_time_point_value_t play_until_timestamp_ = -1;
-  moodycamel::ReaderWriterQueue<rosbag2_storage::SerializedBagMessageSharedPtr> message_queue_;
-  mutable std::future<void> storage_loading_future_;
-  std::atomic_bool load_storage_content_{true};
-  std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides_;
-  std::unique_ptr<rosbag2_cpp::PlayerClock> clock_;
-  std::shared_ptr<rclcpp::TimerBase> clock_publish_timer_;
-  std::mutex skip_message_in_main_play_loop_mutex_;
-  bool skip_message_in_main_play_loop_ RCPPUTILS_TSA_GUARDED_BY(
-    skip_message_in_main_play_loop_mutex_) = false;
-  std::atomic_bool is_in_playback_{false};
-
-  rcutils_time_point_value_t starting_time_;
-
-  // control services
-  rclcpp::Service<rosbag2_interfaces::srv::Pause>::SharedPtr srv_pause_;
-  rclcpp::Service<rosbag2_interfaces::srv::Resume>::SharedPtr srv_resume_;
-  rclcpp::Service<rosbag2_interfaces::srv::TogglePaused>::SharedPtr srv_toggle_paused_;
-  rclcpp::Service<rosbag2_interfaces::srv::IsPaused>::SharedPtr srv_is_paused_;
-  rclcpp::Service<rosbag2_interfaces::srv::GetRate>::SharedPtr srv_get_rate_;
-  rclcpp::Service<rosbag2_interfaces::srv::SetRate>::SharedPtr srv_set_rate_;
-  rclcpp::Service<rosbag2_interfaces::srv::Play>::SharedPtr srv_play_;
-  rclcpp::Service<rosbag2_interfaces::srv::PlayNext>::SharedPtr srv_play_next_;
-  rclcpp::Service<rosbag2_interfaces::srv::Burst>::SharedPtr srv_burst_;
-  rclcpp::Service<rosbag2_interfaces::srv::Seek>::SharedPtr srv_seek_;
-  rclcpp::Service<rosbag2_interfaces::srv::Stop>::SharedPtr srv_stop_;
-
-  rclcpp::Publisher<rosbag2_interfaces::msg::ReadSplitEvent>::SharedPtr split_event_pub_;
-
-  // defaults
-  std::shared_ptr<KeyboardHandler> keyboard_handler_;
-  std::vector<KeyboardHandler::callback_handle_t> keyboard_callbacks_;
+  std::unique_ptr<PlayerImpl> pimpl_;
 };
 
 }  // namespace rosbag2_transport