Implement action recording and display info about recorded action #1939

Barry-Xu-2018 · 2025-03-14T12:55:02Z

Address ros-infrastructure/rep#405

Design #1928

fujitatomoya · 2025-03-14T15:34:40Z

@Barry-Xu-2018 thanks 👍 please let us know once this is ready to review.

fujitatomoya · 2025-03-14T15:34:52Z

CC: @MichaelOrlov

Barry-Xu-2018 · 2025-03-16T03:05:52Z

please let us know once this is ready to review.

Okay. I will notify you once it's ready.

Barry-Xu-2018 · 2025-03-17T06:24:02Z

@fujitatomoya @MichaelOrlov

Although the design (#1928) is still being finalized, there are no objections regarding the record and info sections, so I have implemented these parts according to the design.

If you have time, please help review it.

MichaelOrlov

@Barry-Xu-2018 Thank you for your contribution and hard work. The PR is huge. I've made a first round of review which is not thorough yet. However, let's address first my finding from the first round then will do one more round.

Among my findings and suggestions mentioned inline in the code, I have one major concern in regards to the design of the API changes in the RecordOptions structure.
In the current implementation a newly added fields as

std::vector<std::string> actions;  // action internal topics and service event topics

and

std::vector<std::string> exclude_actions;  // action internal topics and service event topics

imply to keep a list of extended "full" action's topic names and events.
i.e. we need to expand each action to a list of action topics list by calling for the rosbag2_cpp::action_name_to_action_topic_name(action); in a multiple places.
However, we are using this new parameters for actions and exclude_actions from RecordOptions struct only in the TopicFilter class.
It would be a more elegant and cleaner implementation if we would use non-expaned action names in the RecordOptions struct (the same as in the CLI options) and expand them to the real action topics inside TopicFilter constructor and keep them as a private member variables of the TopicFilter class.
This will also simplify the cases when we need to serialize-deserialize the RecordOptions structure and store it in config files or in the metadata.

ros2bag/test/test_recorder_args_parser.py

ros2bag/ros2bag/verb/info.py

rosbag2_cpp/include/rosbag2_cpp/action_utils.hpp

rosbag2_cpp/src/rosbag2_cpp/action_utils.cpp

rosbag2_cpp/test/rosbag2_cpp/test_action_utils.cpp

rosbag2_py/src/rosbag2_py/_info.cpp

rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp

rosbag2_transport/src/rosbag2_transport/topic_filter.cpp

Barry-Xu-2018 · 2025-03-24T09:45:31Z

@MichaelOrlov

Thank you for your review of the first round. I will handle your review comments.

fujitatomoya

@Barry-Xu-2018 this one is big... 😅 thank you very much for your effort. i got several comments, most of them are minor. please have them checked out!

ros2bag/ros2bag/verb/info.py

ros2bag/ros2bag/verb/record.py

ros2bag/test/test_recorder_args_parser.py

rosbag2_cpp/src/rosbag2_cpp/action_utils.cpp

rosbag2_cpp/src/rosbag2_cpp/info.cpp

rosbag2_py/src/rosbag2_py/format_bag_metadata.cpp

rosbag2_py/src/rosbag2_py/format_service_info.cpp

rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp

rosbag2_transport/src/rosbag2_transport/config_options_from_node_params.cpp

rosbag2_transport/test/rosbag2_transport/test_record_all.cpp

Barry-Xu-2018 · 2025-03-26T07:22:59Z

@MichaelOrlov

It would be a more elegant and cleaner implementation if we would use non-expaned action names in the RecordOptions struct (the same as in the CLI options) and expand them to the real action topics inside TopicFilter constructor and keep them as a private member variables of the TopicFilter class.
This will also simplify the cases when we need to serialize-deserialize the RecordOptions structure and store it in config files or in the metadata.

Thanks. I agree with you.
I have updated code for the first round of review comment. 4946f5f

Barry-Xu-2018 · 2025-03-26T07:23:34Z

@fujitatomoya

Thanks for your comments. I will handle them.

Barry-Xu-2018 · 2025-03-26T07:34:16Z

@fujitatomoya

Implement action recording and display info about recorded action #1939 (comment)
Implement action recording and display info about recorded action #1939 (comment)
Implement action recording and display info about recorded action #1939 (comment)

i think this one is not addressed yet?

During your review, my fix (4946f5f) hadn't been submitted yet. However, these issues were already fixed in my fix, so I marked it as resolved.

Barry-Xu-2018 · 2025-03-26T10:12:57Z

@fujitatomoya

I submitted below commit to handle your review comments.
8e6f827

fujitatomoya

i confirmed all the comments are addressed, lgtm with green CI.

fujitatomoya · 2025-03-26T16:24:06Z

@Barry-Xu-2018 github action is not haapy, https://github.com/ros2/rosbag2/actions/runs/14080698263/job/39432789706?pr=1939 can you check this?

fujitatomoya · 2025-03-27T16:02:38Z

@Barry-Xu-2018 github action is happy now, thanks!

@MichaelOrlov could you check the your comments? in the meantime, i will start the CI.

fujitatomoya · 2025-03-27T16:04:40Z

Pulls: #1939
Gist: https://gist.githubusercontent.com/fujitatomoya/01ae3c5effe622750ff6f312bb94a203/raw/290701278e198437896adf90b5a853a4aad99cdd/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_cpp rosbag2_py rosbsg2_test_common rosbag2_tests rosbag2_transport
TEST args: --packages-above ros2bag rosbag2_cpp rosbag2_py rosbsg2_test_common rosbag2_tests rosbag2_transport
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15499

Linux
Linux-aarch64
Linux-rhel
Windows

Barry-Xu-2018 · 2025-03-28T02:01:47Z

Linux

Linux-rhel

The error log is

Please make sure you have the correct access rights
and the repository exists.
fatal: clone of '[email protected]:osrf/rticonnextdds-bins.git' into submodule path '/home/jenkins-agent/workspace/ci_linux/linux_docker_resources/rticonnextdds-src' failed
Failed to clone 'linux_docker_resources/rticonnextdds-src'. Retry scheduled
Cloning into '/home/jenkins-agent/workspace/ci_linux/linux_docker_resources/rticonnextdds-src'...

I have no idea about this issue.
But I find the following action also included the same error.
https://ci.ros2.org/job/ci_linux/22910/console

Linux-aarch64

Windows

The cause is related to an error in Gist.
@fujitatomoya Please help to fix an error in Gist

  Barry-Xu-2018/rosbag2:  <== ros2/rosbag2
    type: git
    url: https://github.com/Barry-Xu-2018/rosbag2.git

MichaelOrlov · 2025-03-28T04:06:26Z

@Barry-Xu-2018 I see that there is existent /fibonacci/_action/feedback topic in actions. But we are not handling it.
I am curious why. Do we miss it?

MichaelOrlov · 2025-03-28T04:14:17Z

@Barry-Xu-2018 I see that there is existent /fibonacci/_action/feedback topic in actions. But we are not handling it. I am curious why. Do we miss it?

My bad, I messed up and was wrong. We do handle feedback messages.
What I can't find is the handling of the GoalInfo.msg.

MichaelOrlov · 2025-03-28T01:24:00Z

ros2bag/ros2bag/verb/record.py

        record_options.topic_types = args.topic_types
        # Convert service name to service event topic name
        record_options.services = convert_service_to_service_event_topic(args.services)
+        record_options.actions = args.actions if args.actions else []


Do we really need to explicitly assign an empty list []?
It seems it could be simplified as a simple assignment

record_options.actions = args.actions

The same as topics

If I change to this, running the ros2bag test will report this error.

[ros2bag-cli-7] File "/root/ros2_src_rolling/build/ros2bag/ros2bag/verb/record.py", line 361, in main [ros2bag-cli-7] record_options.actions = args.actions [ros2bag-cli-7] ^^^^^^^^^^^^^^^^^^^^^^ [ros2bag-cli-7] TypeError: (): incompatible function arguments. The following argument types are supported: [ros2bag-cli-7] 1. (self: rosbag2_py._transport.RecordOptions, arg0: List[str]) -> None

I compared the code with the record_options.topics and did not find any differences in the types. Do you have any suggestion about this issue ?

Interesting.. I will take a look

MichaelOrlov · 2025-03-28T01:24:21Z

ros2bag/ros2bag/verb/record.py

        record_options.exclude_topics = args.exclude_topics if args.exclude_topics else []
        record_options.exclude_service_events = \
            convert_service_to_service_event_topic(args.exclude_services)
+        record_options.exclude_actions = args.exclude_actions if args.exclude_actions else []


The same here it seems we don;t need conversion here.

Have the same problem mentioned in #1939 (comment)

If I change record_options.exclude_topics, it also has the same problem.

rosbag2_cpp/src/rosbag2_cpp/action_utils.cpp

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

rosbag2_cpp/src/rosbag2_cpp/action_utils.cpp

fujitatomoya · 2025-03-28T05:23:50Z

Linux

Linux-rhel

The error log is
Please make sure you have the correct access rights
and the repository exists.
fatal: clone of '[email protected]:osrf/rticonnextdds-bins.git' into submodule path '/home/jenkins-agent/workspace/ci_linux/linux_docker_resources/rticonnextdds-src' failed
Failed to clone 'linux_docker_resources/rticonnextdds-src'. Retry scheduled
Cloning into '/home/jenkins-agent/workspace/ci_linux/linux_docker_resources/rticonnextdds-src'...
I have no idea about this issue. But I find the following action also included the same error. https://ci.ros2.org/job/ci_linux/22910/console

Linux-aarch64

Windows

The cause is related to an error in Gist. @fujitatomoya Please help to fix an error in Gist
  Barry-Xu-2018/rosbag2:  <== ros2/rosbag2
    type: git
    url: https://github.com/Barry-Xu-2018/rosbag2.git

hmmm, this is weird. i just use https://github.com/ros-tooling/ros-github-scripts, probably recent PR introduce some regression... anyway, for now, i just fixed the https://gist.githubusercontent.com/fujitatomoya/01ae3c5effe622750ff6f312bb94a203/raw/b2829009be047691533f0103136e64b5c27efbfa/ros2.repos, i will restart the CI

fujitatomoya · 2025-03-28T05:25:54Z

CI:

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya · 2025-03-28T05:34:21Z

@Barry-Xu-2018

The cause is related to an error in Gist. @fujitatomoya Please help to fix an error in Gist

i had a typo for the test target package. the new CI is started.

Barry-Xu-2018 · 2025-03-28T09:13:47Z

@MichaelOrlov

What I can't find is the handling of the GoalInfo.msg.

Why do you think we need to handle GoalInfo.msg for recording or info command ?
For showing action info, we only display the following info. We don't care each Goal. We do not count the number of Goal operations.

Actions:           2
Action information: 
  Action: /test_action1 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 584 B | Serialization Format: cdr
    Topic: feedback | Count: 5
    Topic: status | Count: 2
    Service: send_goal | Request Count: 1 | Response Count: 1
    Service: cancel_goal | Request Count: 0 | Response Count: 0
    Service: get_result | Request Count: 1 | Response Count: 1
  Action: /test_action2 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 708 B | Serialization Format: cdr
    Topic: feedback | Count: 7
    Topic: status | Count: 2
    Service: send_goal | Request Count: 1 | Response Count: 1
    Service: cancel_goal | Request Count: 0 | Response Count: 0
    Service: get_result | Request Count: 1 | Response Count: 1

Signed-off-by: Barry Xu <[email protected]>

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

- Rationale: We shall store the original message definition for recorded topics by design. This is also true for service events. Signed-off-by: Michael Orlov <[email protected]>

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

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

Barry-Xu-2018 · 2025-03-31T05:01:49Z

Rebase was done.

Gist: https://gist.githubusercontent.com/fujitatomoya/01ae3c5effe622750ff6f312bb94a203/raw/b2829009be047691533f0103136e64b5c27efbfa/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_cpp rosbag2_py rosbag2_test_common rosbag2_tests rosbag2_transport
TEST args: --packages-above ros2bag rosbag2_cpp rosbag2_py rosbag2_test_common rosbag2_tests rosbag2_transport
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15530

Linux
Linux-aarch64
Linux-rhel
Windows

MichaelOrlov · 2025-03-31T05:29:25Z

@Barry-Xu-2018 The Windows CI Job fails with error messages:

Syntax error at index 90 in simple regular expression "Topic: /test_topic1 | Type: std_msgs/msg/String | Count: //d+ | Size Contribution: //+d B | Serialization Format: cdr
": '|' is unsupported.


C:\ci\ws\src\ros2\rosbag2\rosbag2_tests\test\rosbag2_tests\test_rosbag2_info_end_to_end.cpp:133
Value of: output
Expected: contains regular expression "Topic: /test_topic1 | Type: std_msgs/msg/String | Count: //d+ | Size Contribution: //+d B | Serialization Format: cdr\n"
  Actual: "\nFiles:             bag_with_topics_and_service_events_and_action.db3\nBag size:          103.8 KiB\nStorage id:        sqlite3\nROS Distro:        rolling\nDuration:          52.559897611s\nStart:             Mar 14 2025 10:51:19.681027429 (1741949479.681027429)\nEnd:               Mar 14 2025 10:52:12.240925040 (1741949532.240925040)\nMessages:          159\nTopic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Size Contribution: 0 B | Serialization Format: cdr\n                   Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Size Contribution: 0 B | Serialization Format: cdr\n                   Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 100 | Size Contribution: 17.5 KiB | Serialization Format: cdr\n                   Topic: /test_topic1 | Type: std_msgs/msg/String | Count: 32 | Size Contribution: 768 B | Serialization Format: cdr\n                   Topic: /test_topic2 | Type: std_msgs/msg/String | Count: 27 | Size Contribution: 648 B | Serialization Format: cdr\nServices:          2\nService information: Service: /test_service1 | Type: example_interfaces/srv/AddTwoInts | Request Count: 1 | Response Count: 1 | Size Contribution: 132 B | Serialization Format: cdr\n                     Service: /test_service2 | Type: example_interfaces/srv/AddTwoInts | Request Count: 1 | Response Count: 1 | Size Contribution: 132 B | Serialization Format: cdr\nActions:           2\nAction information: \n  Action: /test_action1 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 584 B | Serialization Format: cdr\n    Topic: feedback | Count: 5\n    Topic: status | Count: 2\n    Service: send_goal | Request Count: 1 | Response Count: 1\n    Service: cancel_goal | Request Count: 0 | Response Count: 0\n    Service: get_result | Request Count: 1 | Response Count: 1\n  Action: /test_action2 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 708 B | Serialization Format: cdr\n    Topic: feedback | Count: 7\n    Topic: status | Count: 2\n    Service: send_goal | Request Count: 1 | Response Count: 1\n    Service: cancel_goal | Request Count: 0 | Response Count: 0\n    Service: get_result | Request Count: 1 | Response Count: 1\n"

Barry-Xu-2018 · 2025-03-31T08:10:33Z

@MichaelOrlov

The Windows CI Job fails with error messages:
...

Thank you. I’ll investigate it.
I might need to spend some time setting up a Windows environment for testing.

Signed-off-by: Barry Xu <[email protected]>

Barry-Xu-2018 · 2025-04-01T07:46:41Z

Rerun CI

Linux
Linux-aarch64
Linux-rhel
Windows

Barry-Xu-2018 · 2025-04-01T07:52:44Z

@MichaelOrlov

Syntax error at index 90 in simple regular expression "Topic: /test_topic1 | Type: std_msgs/msg/String | Count: //d+ | Size Contribution: //+d B | Serialization Format: cdr
": '|' is unsupported.


C:\ci\ws\src\ros2\rosbag2\rosbag2_tests\test\rosbag2_tests\test_rosbag2_info_end_to_end.cpp:133
Value of: output
Expected: contains regular expression "Topic: /test_topic1 | Type: std_msgs/msg/String | Count: //d+ | Size Contribution: //+d B | Serialization Format: cdr\n"
  Actual: "\nFiles:             bag_with_topics_and_service_events_and_action.db3\nBag size:          103.8 KiB\nStorage id:        sqlite3\nROS Distro:        rolling\nDuration:          52.559897611s\nStart:             Mar 14 2025 10:51:19.681027429 (1741949479.681027429)\nEnd:               Mar 14 2025 10:52:12.240925040 (1741949532.240925040)\nMessages:          159\nTopic information: Topic: /events/write_split | Type: rosbag2_interfaces/msg/WriteSplitEvent | Count: 0 | Size Contribution: 0 B | Serialization Format: cdr\n                   Topic: /parameter_events | Type: rcl_interfaces/msg/ParameterEvent | Count: 0 | Size Contribution: 0 B | Serialization Format: cdr\n                   Topic: /rosout | Type: rcl_interfaces/msg/Log | Count: 100 | Size Contribution: 17.5 KiB | Serialization Format: cdr\n                   Topic: /test_topic1 | Type: std_msgs/msg/String | Count: 32 | Size Contribution: 768 B | Serialization Format: cdr\n                   Topic: /test_topic2 | Type: std_msgs/msg/String | Count: 27 | Size Contribution: 648 B | Serialization Format: cdr\nServices:          2\nService information: Service: /test_service1 | Type: example_interfaces/srv/AddTwoInts | Request Count: 1 | Response Count: 1 | Size Contribution: 132 B | Serialization Format: cdr\n                     Service: /test_service2 | Type: example_interfaces/srv/AddTwoInts | Request Count: 1 | Response Count: 1 | Size Contribution: 132 B | Serialization Format: cdr\nActions:           2\nAction information: \n  Action: /test_action1 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 584 B | Serialization Format: cdr\n    Topic: feedback | Count: 5\n    Topic: status | Count: 2\n    Service: send_goal | Request Count: 1 | Response Count: 1\n    Service: cancel_goal | Request Count: 0 | Response Count: 0\n    Service: get_result | Request Count: 1 | Response Count: 1\n  Action: /test_action2 | Type: example_interfaces/action/Fibonacci | Topics: 2 | Service: 3 | Size Contribution: 708 B | Serialization Format: cdr\n    Topic: feedback | Count: 7\n    Topic: status | Count: 2\n    Service: send_goal | Request Count: 1 | Response Count: 1\n    Service: cancel_goal | Request Count: 0 | Response Count: 0\n    Service: get_result | Request Count: 1 | Response Count: 1\n"

On the Windows platform, I couldn't find a successful way to make ContainsRegex support the "|" character ("\\|" doesn't make ContainsRegex work as expected. But this can avoid above error.). I had to switch to using std::regex for testing. e196b67

fujitatomoya · 2025-04-01T14:49:12Z

@MichaelOrlov CI is green, if you are good to go, can you merge this?
@Barry-Xu-2018 thanks for your effort!

Barry-Xu-2018 mentioned this pull request Mar 14, 2025

Action introspection rosbag2 support ros-infrastructure/rep#405

Open

Barry-Xu-2018 force-pushed the reivew/topic-support-action-record-and-info branch from 3b18d88 to 83b0d07 Compare March 16, 2025 03:04

Barry-Xu-2018 marked this pull request as ready for review March 17, 2025 06:17

fujitatomoya requested review from MichaelOrlov and fujitatomoya March 18, 2025 07:11

fujitatomoya assigned Barry-Xu-2018 Mar 18, 2025

fujitatomoya mentioned this pull request Mar 18, 2025

[Design] Add design doc for actions recording and replay #1928

Merged

MichaelOrlov requested changes Mar 24, 2025

View reviewed changes

fujitatomoya reviewed Mar 26, 2025

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fujitatomoya approved these changes Mar 26, 2025

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MichaelOrlov reviewed Mar 28, 2025

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Barry-Xu-2018 and others added 17 commits March 31, 2025 11:28

Implement action recording and display info about recorded action

92b5beb

Signed-off-by: Barry Xu <[email protected]>

Address review comment of first round

1bc1f9a

Signed-off-by: Barry Xu <[email protected]>

Address review comments from fujitatomoya

6c437c0

Signed-off-by: Barry Xu <[email protected]>

genstub

7a29fcc

Signed-off-by: Barry Xu <[email protected]>

Optimize some parts of the code

cb175c2

Signed-off-by: Barry Xu <[email protected]>

Fix an issue with the display when there is no service data

0e23198

Signed-off-by: Barry Xu <[email protected]>

Address review comments

a4f2190

Signed-off-by: Barry Xu <[email protected]>

Change a variable name to make the code clearer and more readable

a56f295

Signed-off-by: Barry Xu <[email protected]>

Address review comments

fb1286d

Signed-off-by: Barry Xu <[email protected]>

Simplify if-else block with a shorter name service_info

e4fd9ef

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

Throw exception by default in the get_action_type_for_info(topic_type)

63723f5

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

Remove type conversion in sequential_writer

8fcfbde

- Rationale: We shall store the original message definition for recorded topics by design. This is also true for service events. Signed-off-by: Michael Orlov <[email protected]>

Calculate actions status and feedback statistics in read_service_and_…

99103f8

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

Address some other small style changes and nitpicks

c85ed3c

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

Add default section with exception to sorting functions

5c31b04

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

Use structural bindings in the test_action_utils.cpp

8e69169

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

Add Doxygen comments to the action_utils.hpp

6bb2be1

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

Barry-Xu-2018 force-pushed the reivew/topic-support-action-record-and-info branch from da8fcd6 to 6bb2be1 Compare March 31, 2025 04:44

Avoid using ContainsRegex on Windows to handle the '|' character

e196b67

Signed-off-by: Barry Xu <[email protected]>

Barry-Xu-2018 mentioned this pull request Apr 2, 2025

Implement action play #1954

Closed

fujitatomoya merged commit 5ab9796 into ros2:rolling Apr 2, 2025
11 checks passed

Barry-Xu-2018 mentioned this pull request Apr 18, 2025

ros2 bag record --action /fibonacci failed to look up some message types #1964

Closed

MichaelOrlov mentioned this pull request May 7, 2025

Capture implicit message definitions for action feedback messages #1528

Open

Blast545 mentioned this pull request Jun 26, 2025

Buildfarmer log 2025/06/23 - 2025/06/30 osrf/buildfarm-tools#158

Closed

Implement action recording and display info about recorded action #1939

Implement action recording and display info about recorded action #1939

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Barry-Xu-2018 commented Mar 14, 2025

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MichaelOrlov commented Mar 28, 2025 •

edited

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Barry-Xu-2018 Mar 28, 2025 •

edited

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fujitatomoya commented Mar 28, 2025 •

edited

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