snapshot.cpp

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#include <rosbag_snapshot/snapshotter.h>
#include <rosbag/exceptions.h>
 
#include <boost/program_options.hpp>
#include <string>
#include <sstream>
#include <vector>
 
namespace po = boost::program_options;
 
using rosbag_snapshot::Snapshotter;
using rosbag_snapshot::SnapshotterClient;
using rosbag_snapshot::SnapshotterOptions;
using rosbag_snapshot::SnapshotterTopicOptions;
using rosbag_snapshot::SnapshotterClientOptions;
 
const int MB_TO_BYTES = 1E6;
 
bool parseOptions(po::variables_map& vm, int argc, char** argv)
{
  // Strip ros arguments and reassemble
  ros::V_string cleaned_args;
  ros::removeROSArgs(argc, argv, cleaned_args);
  int cleaned_argc = cleaned_args.size();
  char const* cleaned_argv[cleaned_argc];
  for (int i = 0; i < cleaned_argc; ++i)
    cleaned_argv[i] = cleaned_args[i].c_str();
 
  po::options_description desc("Options");
  // clang-format off
  desc.add_options()
    ("help,h", "produce help message")
    ("trigger-write,t", "Write buffer of selected topcis to a bag file")
    ("pause,p", "Stop buffering new messages until resumed or write is triggered")
    ("resume,r", "Resume buffering new messages, writing over older messages as needed")
    ("all,a", "Record all topics")
    ("no-clear,n", "Flag to explicitly NOT clear the buffer after writing to a bag.")
    ("size,s", po::value<double>()->default_value(-1),
     "Maximum memory per topic to use in buffering in MB. Default: no limit")
    ("count,c", po::value<int32_t>()->default_value(-1),
     "Maximum number of messages per topic to use when buffering. Default: no limit")
    ("duration,d", po::value<double>()->default_value(30.0),
     "Maximum difference between newest and oldest buffered message per topic in seconds. Default: 30")
    ("output-prefix,o", po::value<std::string>()->default_value(""),
     "When in trigger write mode, prepend PREFIX to name of writting bag file")
    ("output-filename,O", po::value<std::string>(), "When in trigger write mode, exact name of written bag file")
    ("topic", po::value<std::vector<std::string> >(),
     "Topic to buffer. If triggering write, write only these topics instead of all buffered topics.")
    ("compression,c", po::value<std::string>()->default_value("uncompressed"),
     "Bag compression type. Default: uncompressed. Other options are: BZ2, LZ4.")
    ("queue-size", po::value<int32_t>()->default_value(10),
     "Queue size when subscribing to topics. Default: 10");
  // clang-format on
  po::positional_options_description p;
  p.add("topic", -1);
 
  try
  {
    po::store(po::command_line_parser(cleaned_argc, cleaned_argv).options(desc).positional(p).run(), vm);
    po::notify(vm);
  }
  catch (boost::program_options::error const& e)
  {
    std::cout << "rosbag_snapshot: " << e.what() << std::endl;
    return false;
  }
 
  if (vm.count("help"))
  {
    std::cout << "Usage: rosrun rosbag_snapshot snapshot [options] [topic1 topic2 ...]" << std::endl
              << std::endl
              << "Buffer recent messages until triggered to write or trigger an already running instance." << std::endl
              << std::endl;
    std::cout << desc << std::endl;
    return false;
  }
  return true;
}
 
bool parseVariablesMap(SnapshotterOptions& opts, po::variables_map const& vm)
{
  if (vm.count("topic"))
  {
    std::vector<std::string> topics = vm["topic"].as<std::vector<std::string> >();
    for (const std::string& str : topics)
    {
      opts.addTopic(str);
    }
  }
  opts.default_memory_limit_ = static_cast<int>(MB_TO_BYTES * vm["size"].as<double>());
  opts.default_duration_limit_ = ros::Duration(vm["duration"].as<double>());
  opts.default_count_limit_ =  vm["count"].as<int32_t>();
  if (vm.count("no-clear"))
  {
    opts.clear_buffer_ = false;
  }
  else opts.clear_buffer_ = true;
  opts.all_topics_ = vm.count("all");
  opts.compression_ = vm["compression"].as<std::string>();
  if (vm.count("queue-size"))
  {
    opts.queue_size_ = vm["queue-size"].as<int32_t>();
  }
  else
  {
    opts.queue_size_ = 10;
  }
  return true;
}
 
bool parseVariablesMapClient(SnapshotterClientOptions& opts, po::variables_map const& vm)
{
  if (vm.count("pause"))
    opts.action_ = SnapshotterClientOptions::PAUSE;
  else if (vm.count("resume"))
    opts.action_ = SnapshotterClientOptions::RESUME;
  else if (vm.count("trigger-write"))
  {
    opts.action_ = SnapshotterClientOptions::TRIGGER_WRITE;
    if (vm.count("topic"))
      opts.topics_ = vm["topic"].as<std::vector<std::string> >();
    if (vm.count("output-prefix"))
      opts.prefix_ = vm["output-prefix"].as<std::string>();
    if (vm.count("output-filename"))
      opts.filename_ = vm["output-filename"].as<std::string>();
  }
  return true;
}
 
/* Read configured topics and limits from ROS params
 * TODO: use exceptions instead of asserts to follow style conventions
 * See snapshot.test for an example
 */
void appendParamOptions(ros::NodeHandle& nh, SnapshotterOptions& opts)
{
  using XmlRpc::XmlRpcValue;
  XmlRpcValue topics;
 
  // Override program options for default limits if the parameters are set.
  double tmp;
  int32_t default_count;
  bool clear_buffer;
  if (nh.getParam("default_memory_limit", tmp))
    opts.default_memory_limit_ = static_cast<int>(MB_TO_BYTES * tmp);
  if (nh.getParam("default_duration_limit", tmp))
    opts.default_duration_limit_ = ros::Duration(tmp);
  if (nh.getParam("default_count_limit", default_count))
    opts.default_count_limit_ = default_count;
  if (nh.getParam("clear_buffer", clear_buffer))
    opts.clear_buffer_ = clear_buffer;
  nh.param("record_all_topics", opts.all_topics_, opts.all_topics_);
 
  // Set compression type
  const std::string default_compression{"uncompressed"};
  nh.param("compression", opts.compression_, default_compression);
 
  nh.param("queue_size", opts.queue_size_, 10);
 
  if (!nh.getParam("topics", topics))
  {
    return;
  }
  ROS_ASSERT_MSG(topics.getType() == XmlRpcValue::TypeArray, "topics param must be an array");
  // Iterator caused exception, hmmm...
  size_t size = topics.size();
  for (size_t i = 0; i < size; ++i)
  {
    XmlRpcValue topic_value = topics[i];
    // If it is just a string, add this topic
    if (topic_value.getType() == XmlRpcValue::TypeString)
    {
      opts.addTopic(topic_value);
    }
    else if (topic_value.getType() == XmlRpcValue::TypeStruct)
    {
      ROS_ASSERT_MSG(topic_value.size() == 1, "Paramater invalid for topic %lu", i);
      std::string const& topic = (*topic_value.begin()).first;
      XmlRpcValue& topic_config = (*topic_value.begin()).second;
      ROS_ASSERT_MSG(topic_config.getType() == XmlRpcValue::TypeStruct, "Topic limits invalid for: '%s'",
                     topic.c_str());
 
      ros::Duration dur = SnapshotterTopicOptions::INHERIT_DURATION_LIMIT;
      int64_t mem = SnapshotterTopicOptions::INHERIT_MEMORY_LIMIT;
      int32_t cnt = SnapshotterTopicOptions::INHERIT_COUNT_LIMIT;
      std::string duration = "duration";
      std::string memory = "memory";
      std::string count = "count";
      if (topic_config.hasMember(duration))
      {
        XmlRpcValue& dur_limit = topic_config[duration];
        if (dur_limit.getType() == XmlRpcValue::TypeDouble)
        {
          double seconds = dur_limit;
          dur = ros::Duration(seconds);
        }
        else if (dur_limit.getType() == XmlRpcValue::TypeInt)
        {
          int seconds = dur_limit;
          dur = ros::Duration(seconds, 0);
        }
        else
          ROS_FATAL("err");
      }
      if (topic_config.hasMember("memory"))
      {
        XmlRpcValue& mem_limit = topic_config[memory];
        if (mem_limit.getType() == XmlRpcValue::TypeDouble)
        {
          double mb = mem_limit;
          mem = static_cast<int>(MB_TO_BYTES * mb);
        }
        else if (mem_limit.getType() == XmlRpcValue::TypeInt)
        {
          int mb = mem_limit;
          mem = MB_TO_BYTES * mb;
        }
        else
          ROS_FATAL("err");
      }
      if (topic_config.hasMember("count"))
      {
        XmlRpcValue& cnt_limit = topic_config[count];
        if (cnt_limit.getType() == XmlRpcValue::TypeInt)
        {
          cnt = cnt_limit;
        }
        else
          ROS_FATAL("err");
      }
      opts.addTopic(topic, dur, mem, cnt);
    }
    else
      ROS_ASSERT_MSG(false, "Parameter invalid for topic %lu", i);
  }
}
 
int main(int argc, char** argv)
{
  po::variables_map vm;
  if (!parseOptions(vm, argc, argv))
    return 1;
 
  // If any of the client flags are on, use the client
  if (vm.count("trigger-write") || vm.count("pause") || vm.count("resume"))
  {
    SnapshotterClientOptions opts;
    if (!parseVariablesMapClient(opts, vm))
      return 1;
    ros::init(argc, argv, "snapshot_client", ros::init_options::AnonymousName);
    SnapshotterClient client;
    return client.run(opts);
  }
 
  // Parse the command-line options
  SnapshotterOptions opts;
  if (!parseVariablesMap(opts, vm))
    return 1;
 
  ros::init(argc, argv, "snapshot", ros::init_options::AnonymousName);
  // Get additional topic configurations if they're in ROS params
  ros::NodeHandle private_nh("~");
  appendParamOptions(private_nh, opts);
 
  // Exit if not topics selected
  if (!opts.topics_.size() && !opts.all_topics_)
  {
    ROS_FATAL("No topics selected. Exiting.");
    return 1;
  }
 
  // Run the snapshotter
  rosbag_snapshot::Snapshotter snapshotter(opts);
  return snapshotter.run();
}