duration_recorder.cpp

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/*
 * Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License").
 * You may not use this file except in compliance with the License.
 * A copy of the License is located at
 *
 *  http://aws.amazon.com/apache2.0
 *
 * or in the "license" file accompanying this file. This file is distributed
 * on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
 * express or implied. See the License for the specific language governing
 * permissions and limitations under the License.
 */

#include <actionlib/server/action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib_msgs/GoalID.h>
#include <ros/ros.h>

#include <recorder_msgs/DurationRecorderAction.h>

#include <rosbag_cloud_recorders/duration_recorder/duration_recorder.h>
#include <rosbag_cloud_recorders/duration_recorder/duration_recorder_action_server_handler.h>
#include <rosbag_cloud_recorders/utils/recorder.h>
#include <rosbag_cloud_recorders/recorder_common_error_codes.h>


namespace Aws
{
namespace Rosbag
{

using S3FileUploaderActionClient = actionlib::ActionClient<file_uploader_msgs::UploadFilesAction>;

DurationRecorder::DurationRecorder(): DurationRecorder(DurationRecorderOptions())
{}

DurationRecorder::DurationRecorder(DurationRecorderOptions duration_recorder_options) :
  duration_recorder_options_(std::move(duration_recorder_options)),
  node_handle_("~"),
  action_server_(node_handle_, "RosbagDurationRecord", false),
  upload_client_("/s3_file_uploader/UploadFiles", true),
  rosbag_recorder_(std::make_unique<Utils::RosbagRecorder<Utils::Recorder>>())
{
  action_server_.registerGoalCallback(
    [&](DurationRecorderActionServer::GoalHandle goal_handle) {
      DurationRecorderActionServerHandler<DurationRecorderActionServer::GoalHandle, S3FileUploaderSimpleActionClient>::DurationRecorderStart(
        *rosbag_recorder_, duration_recorder_options_, upload_client_, goal_handle);
    }
  );

  action_server_.registerCancelCallback(
    [](DurationRecorderActionServer::GoalHandle goal_handle) {
      DurationRecorderActionServerHandler<DurationRecorderActionServer::GoalHandle, S3FileUploaderSimpleActionClient>::CancelDurationRecorder(goal_handle);
    }
  );
  action_server_.start();
}

}  // namespace Rosbag
}  // namespace Aws