Merge pull request #35 from Cardinal-Space-Mining/recorder-fix

changed bag recording to be more resiliant to e-stop (hopefully)

Author: Sach-P

src/scripts/README.md

@@ -0,0 +1,6 @@
+# HOW TO RUN MULTIBAGGER SCRIPT:
+- From root, enter the directory you want the output to be in
+  - Recommended: this directory (`cd src/scripts`)
+- Run the python script: `python3 multibagger.py`
+- It will save a new bag every 60 seconds
+- To end and ensure the final slice gets saved properly, **press the enter key** in the terminal <u>before</u> ^C or removing power from the robot

src/scripts/multibagger.py

@@ -0,0 +1,64 @@
+import subprocess
+import os
+from datetime import datetime
+import threading
+import psutil
+
+TOPICS="/cloud_all_fields_fullframe /filtered_imu /filtered_cloud /ImageRight /ImageLeft /ImageCenter"
+ROS_BAG_PROC_INIT = ["ros2", "wtf", "bag", "record", TOPICS, "--compression-mode", "file", "--compression-format", "zstd"]
+
+SECONDS_PER_BAG = 10
+OVERLAP_SECONDS = 5
+
+recorders = []
+running = True
+
+def create_next_bag(bag_num, last_bag):
+    global running
+    if not running:
+        return
+    BagRecorder(bag_num, SECONDS_PER_BAG)
+    print(f"Bag number {bag_num} started, press enter to cancel")
+
+    killer_timer = threading.Timer(OVERLAP_SECONDS, last_bag.end_proc)
+    killer_timer.start()
+
+
+class BagRecorder:
+    def __init__(self, num, slice_time):
+        recorders.append(self)
+        self.num = num
+
+        # self.sp = subprocess.Popen["ros2", "wtf", "bag", "record", TOPICS, "--compression-mode", "file", "--compression-format", "zstd", "-o", f"ros-bag-slice-{num}"], shell=True)
+        self.proc = subprocess.Popen(["ros2", "bag", "record"] + TOPICS.split(' ') + ["--compression-mode", "file", "--compression-format", "zstd", "-o", f"ros-bag-slice-{num}"], stdout=subprocess.PIPE)
+
+        self.timer = threading.Timer(slice_time, create_next_bag, (num+1, self))
+        self.timer.start()
+
+    def end_proc(self):
+        if self.proc.poll() is None:
+            self.proc.terminate()
+            print(f"Bag number {self.num} killed successfully")
+
+def cleanup():
+    for br in recorders:
+        br.end_proc()
+
+
+def main():
+    global running
+    # folder is created of the format "rosbag-collection-ddmmyy-HHMMSS"
+    folder_name: str = f"rosbag-collection-" + datetime.now().strftime("%d%m%y-%H%M%S")
+
+    subprocess.call(["mkdir", folder_name])
+    os.chdir(folder_name)
+
+    BagRecorder(0, 1)
+
+    input("Bag recording started, press enter to exit program\n")
+    running = False
+    cleanup()
+    print("Exited successfully")
+
+if __name__ == "__main__":
+    main()

src/scripts/recorder.bash

@@ -3,8 +3,5 @@
 # Specify the topics you want to record
 TOPICS="/cloud_all_fields_fullframe /filtered_imu /filtered_cloud /ImageRight /ImageLeft /ImageCenter"
 
-# Specify the filename for the bag file
-BAG_FILE="my_bagfile"
-
-# Record messages
-ros2 bag record -o $BAG_FILE $TOPICS
+# Record all specified topics, split into seperate files every 300 seconds, compress files
+ros2 bag record $TOPICS -d 60 --compression-mode file --compression-format zstd