rosrecord: tidying up interface

tools/rosrecord/src/rosrecord/recorder.cpp

@@ -104,7 +104,18 @@ void ros::record::Recorder::writeFieldToHeaderBuffer(const std::string& name, co
   header_buf_len_ += value_len;
 }
 
-bool ros::record::Recorder::open(const std::string &file_name, bool random_access)
+bool ros::record::Recorder::open(const std::string& file_name, bool random_access)
+{
+  if (!openFile(file_name, random_access))
+    return false;
+
+  writeVersion();
+  writeFileHeader();
+
+  return true;
+}
+
+bool ros::record::Recorder::openFile(const std::string& file_name, bool random_access)
 {
   file_name_ = file_name;
 
@@ -142,6 +153,12 @@ pos_t ros::record::Recorder::getOffset()
 }
 
 void ros::record::Recorder::close()
+{
+  writeIndex();
+  closeFile();
+}
+
+void ros::record::Recorder::closeFile()
 {
   // Unfortuantely closing this possibly enormous file takes a while
   // (especially over NFS) and handling of a SIGINT while a file is
@@ -355,8 +372,8 @@ void ros::record::Recorder::writeIndex()
 	}
 
 	// Re-open the file for random access, and rewrite the file header to point to the first index data message
-  close();
-  open(file_name_, true);
+  closeFile();
+  openFile(file_name_, true);
   seek(file_header_pos_);
   writeFileHeader();
 }

tools/rosrecord/src/rosrecord/rosrecord.cpp

@@ -284,9 +284,6 @@ void do_record(std::string prefix, bool add_date)
     g_exit_code = 1;
     ros::shutdown();
   }
-  
-  recorder.writeVersion();
-  recorder.writeFileHeader();
 
   // Technically the g_queue_mutex should be locked while checking empty
   // Except it should only get checked if the node is not ok, and thus
@@ -318,9 +315,6 @@ void do_record(std::string prefix, bool add_date)
     recorder.record(out.topic_name, out.msg, out.time);
   }
 
-  // Write the index to a file
-  recorder.writeIndex();
-
   // Close the file nicely
   recorder.close();
   rename(fname.c_str(),tgt_fname.c_str());
@@ -352,8 +346,6 @@ void do_record_bb()
 
     if (recorder.open(fname))
     {
-      recorder.writeVersion();
-
       while (!out_queue.queue->empty())
       {
         OutgoingMessage out = out_queue.queue->front();