chore: made compression_threads_priority an int32_t

Signed-off-by: Janosch Machowinski <[email protected]>

Author: Janosch Machowinski

rosbag2_compression/include/rosbag2_compression/compression_options.hpp

@@ -64,7 +64,7 @@ struct CompressionOptions
   uint64_t compression_threads;
   /// if set, the compression thread(s) will try to set
   /// the given priority for itself
-  std::optional<int8_t> thread_priority;
+  std::optional<int32_t> thread_priority;
 };
 
 }  // namespace rosbag2_compression

rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp

@@ -70,7 +70,6 @@ SequentialCompressionWriter::~SequentialCompressionWriter()
 void SequentialCompressionWriter::compression_thread_fn()
 {
   if (compression_options_.thread_priority) {
-
 #ifdef _WIN32
     ROSBAG2_COMPRESSION_LOG_WARN_STREAM(
       "Changing thread priority is not implemented for windows");
@@ -103,8 +102,8 @@ void SequentialCompressionWriter::compression_thread_fn()
       int new_nice_value = nice(wanted_nice_value - cur_nice_value);
       if ((new_nice_value == -1 && errno != 0)) {
         ROSBAG2_COMPRESSION_LOG_WARN_STREAM(
-          "Could not set nice value of compression thread to " << wanted_nice_value << " : " << std::strerror(
-            errno));
+          "Could not set nice value of compression thread to " << wanted_nice_value <<
+            " : " << std::strerror(errno));
       }
     }
 #endif

rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp

@@ -148,7 +148,7 @@ class SequentialCompressionWriterTest : public TestWithParam<uint64_t>
 
   const uint64_t kDefaultCompressionQueueSize = 1;
   const uint64_t kDefaultCompressionQueueThreads = 4;
-  const std::optional<int8_t> kDefaultCompressionQueueThreadsPriority = std::nullopt;
+  const std::optional<int32_t> kDefaultCompressionQueueThreadsPriority = std::nullopt;
 };
 
 TEST_F(SequentialCompressionWriterTest, open_throws_on_empty_storage_options_uri)
@@ -405,9 +405,9 @@ TEST_P(SequentialCompressionWriterTest, writer_sets_threads_priority)
   const std::string test_topic_type = "test_msgs/BasicTypes";
   const uint64_t kCompressionQueueSize = GetParam();
 #ifndef _WIN32
-  const int wanted_thread_priority = 10;
+  const int32_t wanted_thread_priority = 10;
 #else
-  const int wanted_thread_priority = THREAD_MODE_BACKGROUND_BEGIN;
+  const int32_t wanted_thread_priority = THREAD_MODE_BACKGROUND_BEGIN;
 #endif
 
   // queue size should be 0 or at least the number of remaining messages to prevent message loss
@@ -421,9 +421,9 @@ TEST_P(SequentialCompressionWriterTest, writer_sets_threads_priority)
 
 #ifndef _WIN32
   // nice values are in the range from -20 to +19, so this value will never be read
-  int detected_thread_priority = 100;
+  int32_t detected_thread_priority = 100;
 #else
-  int detected_thread_priority = THREAD_PRIORITY_ERROR_RETURN;
+  int32_t detected_thread_priority = THREAD_PRIORITY_ERROR_RETURN;
 #endif
 
   initializeFakeFileStorage();

rosbag2_transport/include/rosbag2_transport/record_options.hpp

@@ -42,7 +42,7 @@ struct RecordOptions
   std::string compression_format = "";
   uint64_t compression_queue_size = 1;
   uint64_t compression_threads = 0;
-  int8_t compression_threads_priority = 0;
+  int32_t compression_threads_priority = 0;
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides{};
   bool include_hidden_topics = false;
   bool include_unpublished_topics = false;

rosbag2_transport/src/rosbag2_transport/record_options.cpp

@@ -81,7 +81,7 @@ bool convert<rosbag2_transport::RecordOptions>::decode(
   optional_assign<std::string>(node, "compression_format", record_options.compression_format);
   optional_assign<uint64_t>(node, "compression_queue_size", record_options.compression_queue_size);
   optional_assign<uint64_t>(node, "compression_threads", record_options.compression_threads);
-  optional_assign<int8_t>(
+  optional_assign<int32_t>(
     node, "compression_threads_priority",
     record_options.compression_threads_priority);