Struct SnapshotConfig

• Defined in File snapshot_capture.hpp

Struct Documentation

struct SnapshotConfig

Configuration for snapshot capture.

Public Members

bool enabled = {true}

Whether snapshot capture is enabled.

bool background_capture = {false}

Whether to use background subscriptions (always have latest data) If false, creates on-demand subscriptions when fault is confirmed

double timeout_sec = {1.0}

Timeout in seconds for on-demand topic sampling.

size_t max_message_size = {65536}

Maximum message size in bytes (messages larger than this are skipped)

std::map<std::string, std::vector<std::string>> fault_specific

Topics to capture for specific fault codes (exact match) Key: fault_code, Value: list of topics

std::map<std::string, std::vector<std::string>> patterns

Topics to capture for fault code patterns (regex) Key: regex pattern, Value: list of topics First matching pattern wins

std::vector<std::string> default_topics

Default topics to capture if no specific or pattern match.

RosbagConfig rosbag

Rosbag recording configuration (optional)