process_pending_bag.py

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#!/usr/bin/env python

import sys
import os
import re
from os import path
import subprocess as sp
import time

if len(sys.argv)<2:
    print "Usage: process_pending_bag.py DIRECTORY"
    sys.exit(1)

def sort_key(f):
    return -path.getmtime(f)

def is_completed_bag(f):
    # Only process bags that are at least two hours old
    # this is a hacky way to avoid processing a bag that's currently being scp-ed over
    return re.match(".*\.bag", f) and \
           time.time()-path.getmtime(f)>7200

def invoke_cmd(cmd):
    print("Invoking {0}".format(cmd))
    sp.check_call(cmd.split(' '))
    
    
files = sorted(["{0}/{1}".format(sys.argv[1], f) for f in os.listdir(sys.argv[1])], key=sort_key)
bags = filter(is_completed_bag, files)

if bags:
    invoke_cmd("rosparam set current_bagfile tmp") # So delete never fails
    invoke_cmd("rosparam delete current_bagfile") # Avoid race condition on playbag.sh setting this fast enough
    invoke_cmd("rosrun semanticmodel bags_to_database.py {0}".format(bags[0]))
    invoke_cmd("mv {0} {1}".format(bags[0], "{0}/processed".format(sys.argv[1])))

else:
    print("No bags to process")