8000 Record a maximum number of splits and then begin deleting old files by contradict · Pull Request #866 · ros/ros_comm · GitHub
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Record a maximum number of splits and then begin deleting old files #866

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merged 3 commits into from
Aug 15, 2016
Merged

Record a maximum number of splits and then begin deleting old files #866

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d098d0e
Record a maximum number of splits and then begin deleting old files
contradict Aug 12, 2016
7a6083b
More helpful help string
contradict Aug 13, 2016
b38e80a
Correct indentation
contradict Aug 13, 2016
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4 changes: 4 additions & 0 deletions tools/rosbag/include/rosbag/recorder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@
#include <queue>
#include <string>
#include <vector>
#include <list>

#include <boost/thread/condition.hpp>
#include <boost/thread/mutex.hpp>
Expand Down Expand Up @@ -104,6 +105,7 @@ struct ROSBAG_DECL RecorderOptions
uint32_t limit;
bool split;
uint64_t max_size;
uint32_t max_splits;
ros::Duration max_duration;
std::string node;
unsigned long long min_space;
Expand Down Expand Up @@ -140,6 +142,7 @@ class ROSBAG_DECL Recorder
// void doQueue(topic_tools::ShapeShifter::ConstPtr msg, std::string const& topic, boost::shared_ptr<ros::Subscriber> subscriber, boost::shared_ptr<int> count);
void doQueue(const ros::MessageEvent<topic_tools::ShapeShifter const>& msg_event, std::string const& topic, boost::shared_ptr<ros::Subscriber> subscriber, boost::shared_ptr<int> count);
void doRecord();
void checkNumSplits();
bool checkSize();
bool checkDuration(const ros::Time&);
void doRecordSnapshotter();
Expand All @@ -157,6 +160,7 @@ class ROSBAG_DECL Recorder

std::string target_filename_;
std::string write_filename_;
std::list<std::string> current_files_;

std::set<std::string> currently_recording_; //!< set of currenly recording topics
int num_subscribers_; //!< used for book-keeping of our number of subscribers
Expand Down
12 changes: 12 additions & 0 deletions tools/rosbag/src/record.cpp
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Expand Up @@ -62,6 +62,7 @@ rosbag::RecorderOptions parseOptions(int argc, char** argv) {
("bz2,j", "use BZ2 compression")
("lz4", "use LZ4 compression")
("split", po::value<int>()->implicit_value(0), "Split the bag file and continue recording when maximum size or maximum duration reached.")
("max-splits", po::value<int>()->default_value(0), "Keep a maximum of N bag files, when reaching the maximum erase the oldest one to keep a constant number of files.")
("topic", po::value< std::vector<std::string> >(), "topic to record")
("size", po::value<uint64_t>(), "The maximum size of the bag to record in MB.")
("duration", po::value<std::string>(), "Record a bag of maximum duration in seconds, unless 'm', or 'h' is appended.")
Expand Down Expand Up @@ -123,6 +124,17 @@ rosbag::RecorderOptions parseOptions(int argc, char** argv) {
opts.max_size = 1048576 * S;
}
}
if(vm.count("max-splits"))
{
if(!opts.split)
{
ROS_WARN("--max-splits is ignored without --split");
}
else
{
opts.max_splits = vm["max-splits"].as<int>();
}
}
if (vm.count("buffsize"))
{
int m = vm["buffsize"].as<int>();
Expand Down
19 changes: 19 additions & 0 deletions tools/rosbag/src/recorder.cpp
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Expand Up @@ -393,6 +393,23 @@ void Recorder::stopWriting() {
rename(write_filename_.c_str(), target_filename_.c_str());
}

void Recorder::checkNumSplits()
{
if(options_.max_splits>0)
{
current_files_.push_back(target_filename_);
if(current_files_.size()>options_.max_splits)
{
int err = unlink(current_files_.front().c_str());
if(err != 0)
{
ROS_ERROR("Unable to remove %s: %s", current_files_.front().c_str(), strerror(errno));
}
current_files_.pop_front();
}
}
}

bool Recorder::checkSize()
{
if (options_.max_size > 0)
Expand All @@ -403,6 +420,7 @@ bool Recorder::checkSize()
{
stopWriting();
split_count_++;
checkNumSplits();
startWriting();
} else {
ros::shutdown();
Expand All @@ -425,6 +443,7 @@ bool Recorder::checkDuration(const ros::Time& t)
{
stopWriting();
split_count_++;
checkNumSplits();
start_time_ += options_.max_duration;
startWriting();
}
Expand Down
3 changes: 3 additions & 0 deletions tools/rosbag/src/rosbag/rosbag_main.py
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Expand Up @@ -77,6 +77,7 @@ def record_cmd(argv):
parser.add_option("-o", "--output-prefix", dest="prefix", default=None, action="store", help="prepend PREFIX to beginning of bag name (name will always end with date stamp)")
parser.add_option("-O", "--output-name", dest="name", default=None, action="store", help="record to bag with name NAME.bag")
parser.add_option( "--split", dest="split", 71AB default=False, callback=handle_split, action="callback", help="split the bag when maximum size or duration is reached")
parser.add_option( "--max-splits", dest="max_splits", type='int', action="store", help="Keep a maximum of N bag files, when reaching the maximum erase the oldest one to keep a constant number of files.", metavar="MAX_SPLITS")
parser.add_option( "--size", dest="size", type='int', action="store", help="record a bag of maximum size SIZE MB. (Default: infinite)", metavar="SIZE")
parser.add_option( "--duration", dest="duration", type='string',action="store", help="record a bag of maximum duration DURATION in seconds, unless 'm', or 'h' is appended.", metavar="DURATION")
parser.add_option("-b", "--buffsize", dest="buffsize", default=256, type='int', action="store", help="use an internal buffer of SIZE MB (Default: %default, 0 = infinite)", metavar="SIZE")
Expand Down Expand Up @@ -114,6 +115,8 @@ def record_cmd(argv):
if not options.duration and not options.size:
parser.error("Split specified without giving a maximum duration or size")
cmd.extend(["--split"])
if options.max_splits:
cmd.extend(["--max-splits", str(options.max_splits)])
if options.duration: cmd.extend(["--duration", options.duration])
if options.size: cmd.extend(["--size", str(options.size)])
if options.node:
Expand Down
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