rosrecord.cpp File Reference

#include <time.h>
#include <sys/stat.h>
#include "ros/ros.h"
#include "topic_tools/shape_shifter.h"
#include <boost/thread.hpp>
#include <boost/lexical_cast.hpp>
#include <sstream>
#include <string>
#include <set>
#include <queue>
#include "std_msgs/Empty.h"
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "rosrecord/Recorder.h"

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Classes
class	OutgoingMessage
class	OutgoingQueue
Defines
#define	IGNORE_ROSRECORD_DEPRECATED
#define	ROS_DEPRECATED
Enumerations
enum	{ COMPRESSION_NONE, COMPRESSION_GZIP, COMPRESSION_BZIP2 }
	Compression mode. More...
Functions
void	do_check_master (const ros::TimerEvent &e, ros::NodeHandle &node_handle)
void	do_queue (topic_tools::ShapeShifter::ConstPtr msg, std::string topic_name, boost::shared_ptr< ros::Subscriber > subscriber, boost::shared_ptr< int > count)
	Callback to be invoked to save messages into a queue.
void	do_record ()
	Thread that actually does writing to file.
void	do_record_bb ()
void	do_trigger ()
int	main (int argc, char **argv)
	Main function.
void	print_help ()
	Helper function to print executable options.
void	print_usage ()
	Helper function to print executable usage.
void	snapshot_trigger (std_msgs::Empty::ConstPtr trigger)
	Callback to be invoked to actually do the recording.
template<class T >
std::string	time_to_str (T ros_t)
Variables
bool	g_add_date = true
	Global flag to add date.
static enum { ... }	g_compression
	Compression mode.
int	g_count = -1
	Global variable used for initialization of counting messages.
std::set< std::string >	g_currently_recording
	Global variable including the set of currenly recording topics.
int	g_exit_code = 0
uint64_t	g_max_queue_size = 1048576*256
	Global max queue size.
int	g_num_subscribers = 0
	Global variable used for book-keeping of our number of subscribers.
std::string	g_prefix
	Global prefix.
std::queue< OutgoingMessage > *	g_queue
	Global queue for storing.
boost::condition_variable_any	g_queue_condition
	Conditional variable for global queue.
boost::mutex	g_queue_mutex
	Mutex for global queue.
std::queue< OutgoingQueue >	g_queue_queue
	Queue of queues to be used by the snapshot recorders.
uint64_t	g_queue_size = 0
	Global queue size.
bool	g_snapshot = false
	Global snapshot flag so we can easily use from callback.
uint64_t	g_split_count = 0
	Global split count.
uint64_t	g_split_size = 0
	Global split size.
bool	g_verbose = false
	Global verbose flag so we can easily use from callback.

---

Define Documentation

#define IGNORE_ROSRECORD_DEPRECATED

Definition at line 53 of file rosrecord.cpp.

#define ROS_DEPRECATED

Definition at line 52 of file rosrecord.cpp.

---

Enumeration Type Documentation

anonymous enum

Compression mode.

Enumerator:

COMPRESSION_NONE
COMPRESSION_GZIP
COMPRESSION_BZIP2

Definition at line 128 of file rosrecord.cpp.

---

Function Documentation

void do_check_master	(	const ros::TimerEvent &	e,
		ros::NodeHandle &	node_handle
	)

Definition at line 415 of file rosrecord.cpp.

void do_queue	(	topic_tools::ShapeShifter::ConstPtr	msg,
		std::string	topic_name,
		boost::shared_ptr< ros::Subscriber >	subscriber,
		boost::shared_ptr< int >	count
	)

Callback to be invoked to save messages into a queue.

Definition at line 170 of file rosrecord.cpp.

void do_record

(

)

Thread that actually does writing to file.

Definition at line 257 of file rosrecord.cpp.

void do_record_bb

(

)

Definition at line 369 of file rosrecord.cpp.

void do_trigger

(

)

Definition at line 438 of file rosrecord.cpp.

int main	(	int	argc,
		char **	argv
	)

Main function.

Definition at line 449 of file rosrecord.cpp.

void print_help

(

)

Helper function to print executable options.

Definition at line 152 of file rosrecord.cpp.

void print_usage

(

)

Helper function to print executable usage.

Definition at line 145 of file rosrecord.cpp.

void snapshot_trigger

(

std_msgs::Empty::ConstPtr

trigger

)

Callback to be invoked to actually do the recording.

Definition at line 223 of file rosrecord.cpp.

template<class T >

std::string time_to_str

(

T

ros_t

)

[inline]

Definition at line 135 of file rosrecord.cpp.

---

Variable Documentation

bool g_add_date = true

Global flag to add date.

Definition at line 121 of file rosrecord.cpp.

enum { ... } g_compression [static]

Compression mode.

int g_count = -1

Global variable used for initialization of counting messages.

Definition at line 91 of file rosrecord.cpp.

std::set<std::string> g_currently_recording

Global variable including the set of currenly recording topics.

Definition at line 88 of file rosrecord.cpp.

int g_exit_code = 0

Definition at line 85 of file rosrecord.cpp.

uint64_t g_max_queue_size = 1048576*256

Global max queue size.

Definition at line 103 of file rosrecord.cpp.

int g_num_subscribers = 0

Global variable used for book-keeping of our number of subscribers.

Definition at line 94 of file rosrecord.cpp.

std::string g_prefix

Global prefix.

Definition at line 121 of file rosrecord.cpp.

std::queue<OutgoingMessage>* g_queue

Global queue for storing.

Definition at line 97 of file rosrecord.cpp.

boost::condition_variable_any g_queue_condition

Conditional variable for global queue.

Definition at line 118 of file rosrecord.cpp.

boost::mutex g_queue_mutex

Mutex for global queue.

Definition at line 115 of file rosrecord.cpp.

std::queue<OutgoingQueue> g_queue_queue

Queue of queues to be used by the snapshot recorders.

Definition at line 112 of file rosrecord.cpp.

uint64_t g_queue_size = 0

Global queue size.

Definition at line 100 of file rosrecord.cpp.

bool g_snapshot = false

Global snapshot flag so we can easily use from callback.

Definition at line 82 of file rosrecord.cpp.

uint64_t g_split_count = 0

Global split count.

Definition at line 109 of file rosrecord.cpp.

uint64_t g_split_size = 0

Global split size.

Definition at line 106 of file rosrecord.cpp.

bool g_verbose = false

Global verbose flag so we can easily use from callback.

Definition at line 79 of file rosrecord.cpp.