bagger.h

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/*
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 *  Copyright (c) 2018, Square Robot, Inc.
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#ifndef SRC_BAGGER_INCLUDE_BAGGER_BAGGER_H_
#define SRC_BAGGER_INCLUDE_BAGGER_BAGGER_H_

#include <ros/ros.h>
#include <boost/filesystem.hpp>
#include <map>
#include <string>
#include <vector>

#include <bagger/BaggingState.h>
#include <bagger/SetBagState.h>

class RecordProcess {
public:
  RecordProcess();
  RecordProcess(std::string name, std::string record_options);
  ~RecordProcess();

  std::string getName();
  pid_t getRecordPID();
  bool getRecording();
  std::vector<std::string> getRecordOptionsVector();

  void setRecordPID(pid_t pid);
  void setName(std::string name);
  void setRecordOptionString(std::string record_options);
  void setRecording(bool recording);

private:
  std::string name_;
  std::string record_options_;
  bool recording_;
  pid_t record_pid_;
};

class Bagger {
protected:
  ros::Publisher bagging_state_publisher_;
  ros::ServiceServer bag_state_service_;

  // Normal node handle
  ros::NodeHandlePtr node_handle_;
  // Private node handle, used for node-specific things like parameters
  ros::NodeHandlePtr private_node_handle_;

private:
  bool onBagStateSrv(bagger::SetBagState::Request &request, bagger::SetBagState::Response &response);

  void publishBaggingStates();

  std::string getCurrentWorkingDirectory();
  std::vector<boost::filesystem::path> getMatchingFilePathsInDirectory(const boost::filesystem::path &dir_path,
                                                                       std::string match_string);
  std::string getBagNameFromRecordOptions(std::string record_opts);
  std::string removeSuffix(std::string s, std::string suffix);

  std::map<std::string, std::string> profile_name_to_record_options_map_;
  std::map<std::string, RecordProcess> profile_name_to_record_process_map_;

public:
  Bagger();
  void attemptRecordCleanup();
};

#endif /* SRC_BAGGER_INCLUDE_BAGGER_BAGGER_H_ */