data_bagger.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is 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.
 */
 
#ifndef DATA_BAGGER_DATA_BAGGER_H_
#define DATA_BAGGER_DATA_BAGGER_H_
 
#include <boost/date_time/posix_time/posix_time.hpp>
 
#include <config_reader/config_reader.h>
 
#include <data_bagger/astrobee_recorder.h>
 
#include <errno.h>
 
#include <ff_msgs/DataToDiskState.h>
#include <ff_msgs/DataTopicsList.h>
#include <ff_msgs/EnableRecording.h>
#include <ff_msgs/SetDataToDisk.h>
 
#include <ff_common/ff_names.h>
#include <ff_util/ff_nodelet.h>
 
#include <pluginlib/class_list_macros.h>
 
#include <ros/ros.h>
#include <ros/package.h>
 
#include <sys/stat.h>
#include <sys/types.h>
 
#include <string>
#include <vector>
 
 
namespace data_bagger {
 
class DataBagger : public ff_util::FreeFlyerNodelet {
 public:
  DataBagger();
  ~DataBagger();
 
  // Service that sets delayed recording settings
  bool SetDelayedDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
                            ff_msgs::SetDataToDisk::Response &res);
 
  // This service enables and disables the delayed recording
  bool EnableDelayedRecordingService(ff_msgs::EnableRecording::Request &req,
                              ff_msgs::EnableRecording::Response &res);
 
 protected:
  virtual void Initialize(ros::NodeHandle *nh);
  bool ReadParams();  // Reads data bagger parameters and default profile
 
 private:
  // Reads all topic names published by the robot
  void GetTopicNames();
 
  // Recursively created bag destionation folder
  bool MakeDir(std::string dir, bool assert_init_fault, std::string &err_msg);
 
  // Gets the date for name generation
  std::string GetDate(bool with_time);
 
  // Adds the namespace to topic names
  void AddTopicNamespace(std::string &topic);
 
  // Timer for when the robot finishes startup, starts immediate recording
  void OnStartupTimer(ros::TimerEvent const& event);
 
  // Sets immediate recording settings
  bool SetImmediateDataToDisk(std::string &err_msg);
 
  bool SetDelayedDataToDisk(ff_msgs::DataToDiskState &state,
                            std::string &err_msg);
 
  // Start Recordings
  void StartDelayedRecording();
  void StartImmediateRecording();
 
  // Clear topics, stop recording
  void ResetRecorders(bool immediate);
 
  // Update data bagger profile state
  void GenerateCombinedState(ff_msgs::DataToDiskState *ground_state);
 
  // Publish data bagger state
  void PublishState();
 
  astrobee_rosbag::Recorder *delayed_recorder_, *immediate_recorder_;
 
  config_reader::ConfigReader config_params_;
 
  ff_msgs::DataToDiskState default_data_state_, combined_data_state_;
 
  int pub_queue_size_;
  unsigned int startup_time_secs_;
  int64_t bag_size_bytes_;
 
  ros::Publisher pub_data_state_, pub_data_topics_;
  ros::Timer startup_timer_;
 
  ros::ServiceServer set_service_, record_service_;
 
  rosbag::RecorderOptions recorder_options_delayed_;
  rosbag::RecorderOptions recorder_options_immediate_;
 
  std::thread delayed_thread_, immediate_thread_;
  std::string save_dir_, robot_name_, delayed_profile_name_;
};
 
}  //  namespace data_bagger
 
#endif  // DATA_BAGGER_DATA_BAGGER_H_