Class RosbagCapture

Class Documentation

class RosbagCapture

Manages rosbag recording with ring buffer for time-window capture

This class implements a “black box” style recording where messages are continuously buffered in memory. When a fault is confirmed, the buffer is flushed to a bag file along with continued recording for a short period after the fault.

Lifecycle:

Public Functions

RosbagCapture(rclcpp::Node *node, FaultStorage *storage, const RosbagConfig &config, const SnapshotConfig &snapshot_config)

Create rosbag capture

Parameters:

  • node – ROS 2 node for creating subscriptions and timers

  • storage – Fault storage for persisting bag file metadata

  • config – Rosbag configuration

  • snapshot_config – Snapshot configuration (for topic resolution when topics=”config”)

~RosbagCapture()
RosbagCapture(const RosbagCapture&) = delete
RosbagCapture &operator=(const RosbagCapture&) = delete
RosbagCapture(RosbagCapture&&) = delete
RosbagCapture &operator=(RosbagCapture&&) = delete
void start()

Start the ring buffer recording If lazy_start is false, this is called automatically on construction

void stop()

Stop recording and clean up subscriptions.

bool is_running() const

Check if ring buffer is currently running.

void on_fault_prefailed(const std::string &fault_code)

Called when a fault enters PREFAILED state (for lazy_start mode)

Parameters:

fault_code – The fault code that entered PREFAILED

void on_fault_confirmed(const std::string &fault_code)

Called when a fault is confirmed - flushes buffer to bag file

Parameters:

fault_code – The fault code that was confirmed

void on_fault_cleared(const std::string &fault_code)

Called when a fault is cleared - deletes bag file if auto_cleanup

Parameters:

fault_code – The fault code that was cleared

inline const RosbagConfig &config() const

Get current configuration.

inline bool is_enabled() const

Check if rosbag capture is enabled.