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Making record match rosbag record and fixing a bug in play

This commit is contained in:
Jeremy Leibs 2010-06-10 00:10:18 +00:00
parent 607f67a059
commit 9982dd1da2
3 changed files with 100 additions and 62 deletions
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4
tools/rosbag/src/play.cpp
View File

@ -82,8 +82,8 @@ rosbag::PlayerOptions parseOptions(int argc, char** argv) {
opts.queue_size = vm["queue"].as<int>();
if (vm.count("hz"))
opts.bag_time_frequency = vm["hz"].as<float>();
if (!vm.count("clock"))
opts.bag_time_frequency = 0.0;
if (vm.count("clock"))
opts.bag_time = true;
if (vm.count("delay"))
opts.advertise_sleep = ros::WallDuration(vm["delay"].as<float>());
if (vm.count("rate"))

138
tools/rosbag/src/record.cpp
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@ -35,61 +35,99 @@
#include "rosbag/recorder.h"
#include "rosbag/exceptions.h"
void printUsage() {
fprintf(stderr, "Usage: record [options] TOPIC1 [TOPIC2 TOPIC3...]\n"
" record logs ROS message data to a file.\n");
fprintf(stderr, "Options:\n");
fprintf(stderr, " -c <num> : Only receive <num> messages on each topic\n");
fprintf(stderr, " -f <prefix> : Prepend file prefix to beginning of bag name (name will always end with date stamp)\n");
fprintf(stderr, " -F <fname> : Record to a file named exactly <fname>.bag\n");
fprintf(stderr, " -a : Record all published messages.\n");
fprintf(stderr, " -e : Match topics as regular expressions.\n");
fprintf(stderr, " -x <regex> : Exclude topics matching the follow regular expression (subtracts from -a or regex).\n");
fprintf(stderr, " -v : Display a message every time a message is received on a topic\n");
fprintf(stderr, " -m : Maximize internal buffer size in MB (Default: 256MB) 0 = infinite.\n");
fprintf(stderr, " -s : (EXPERIMENTAL) Enable snapshot recording (don't write to file unless triggered)\n");
fprintf(stderr, " -t : (EXPERIMENTAL) Trigger snapshot recording\n");
fprintf(stderr, " -h : Display this help message\n");
}
#include "boost/program_options.hpp"
namespace po = boost::program_options;
//! Parse the command-line arguments for recorder options
rosbag::RecorderOptions parseOptions(int argc, char** argv) {
rosbag::RecorderOptions opts;
int option_char;
while ((option_char = getopt(argc, argv, "f:F:c:m:S:x:aestvzj")) != -1) {
switch (option_char) {
case 'f': opts.prefix = std::string(optarg); break;
case 'F': opts.prefix = std::string(optarg); opts.append_date = false; break;
case 'x': opts.exclude_regex = std::string(optarg); opts.do_exclude = true; break;
case 'c': opts.limit = atoi(optarg); break;
case 'a': opts.record_all = true; break;
case 'e': opts.regex = true; break;
case 's': opts.snapshot = true; break;
case 'v': opts.verbose = true; break;
case 't': opts.trigger = true; break;
//case 'z': opts.compression = rosbag::compression::ZLIB; break;
case 'j': opts.compression = rosbag::compression::BZ2; break;
case 'm': {
int m = atoi(optarg);
if (m < 0)
throw ros::Exception("Buffer size must be 0 or positive");
opts.buffer_size = 1048576 * m;
break;
}
case 'S': {
int S = atoi(optarg);
if (S < 0)
throw ros::Exception("Split size must be 0 or positive");
opts.split_size = 1048576 * S;
break;
}
}
po::options_description desc("Allowed options");
desc.add_options()
("all,a", "record all topics")
("regex,e", "match topics using regular expressions")
("exclude,x", po::value<std::string>(), "exclude topics matching regular expressions")
("quiet,q", "suppress console output")
("output-prefix,o", po::value<std::string>(), "prepend PREFIX to beginning of bag name")
("output-name,O", po::value<std::string>(), "record bagnamed NAME.bag")
("split", po::value<int>()->default_value(0), "split bag file into files of size SIZE in MB")
("buffsize,b", po::value<int>()->default_value(256), "Use an internal buffer of SIZE MB (Default: 256)")
("limit,l", po::value<int>()->default_value(0), "Only record NUM messages on each topic")
("bz2,j", "use BZ2 compression")
("topic", po::value< std::vector<std::string> >(), "topic to record");
po::positional_options_description p;
p.add("topic", -1);
po::variables_map vm;
try
{
po::store(po::command_line_parser(argc, argv).options(desc).positional(p).run(), vm);
} catch (boost::program_options::invalid_command_line_syntax& e)
{
throw ros::Exception(e.what());
} catch (boost::program_options::unknown_option& e)
{
throw ros::Exception(e.what());
}
if (vm.count("all"))
opts.record_all = true;
if (vm.count("regex"))
opts.regex = true;
if (vm.count("exclude"))
{
opts.do_exclude = true;
opts.exclude_regex = vm["exclude"].as<std::string>();
}
if (vm.count("quiet"))
opts.quiet = true;
if (vm.count("output-prefix"))
{
opts.prefix = vm["output-prefix"].as<std::string>();
opts.append_date = true;
}
if (vm.count("output-name"))
{
opts.prefix = vm["output-name"].as<std::string>();
opts.append_date = false;
}
if (vm.count("split"))
{
int S = vm["split"].as<int>();
if (S < 0)
throw ros::Exception("Split size must be 0 or positive");
opts.split_size = 1048576 * S;
}
if (vm.count("buffsize"))
{
int m = vm["buffsize"].as<int>();
if (m < 0)
throw ros::Exception("Buffer size must be 0 or positive");
opts.buffer_size = 1048576 * m;
}
if (vm.count("limit"))
{
opts.limit = vm["limit"].as<int>();
}
if (vm.count("bz2"))
{
opts.compression = rosbag::compression::BZ2;
}
// Every non-option argument is assumed to be a topic
for (; optind < argc; optind++)
if (vm.count("topic"))
{
std::vector<std::string> bags = vm["topic"].as< std::vector<std::string> >();
for (std::vector<std::string>::iterator i = bags.begin();
i != bags.end();
i++)
opts.topics.push_back(std::string(argv[optind]));
}
// check that argument combinations make sense
if(opts.exclude_regex.size() > 0 &&
@ -103,22 +141,22 @@ rosbag::RecorderOptions parseOptions(int argc, char** argv) {
}
int main(int argc, char** argv) {
ros::init(argc, argv, "record", ros::init_options::AnonymousName);
// Parse the command-line options
rosbag::RecorderOptions opts;
try {
opts = parseOptions(argc, argv);
}
catch (ros::Exception const& ex) {
fprintf(stderr, "Error reading options: %s", ex.what());
ROS_ERROR("Error reading options: %s", ex.what());
return 1;
}
catch(boost::regex_error const& ex) {
fprintf(stderr, "Error reading options: %s\n", ex.what());
ROS_ERROR("Error reading options: %s\n", ex.what());
return 1;
}
ros::init(argc, argv, "record", ros::init_options::AnonymousName);
// Run the recorder
rosbag::Recorder recorder(opts);
int result = recorder.run();

20
tools/rosbag/src/rosbag/rosbag_main.py
View File

@ -81,17 +81,17 @@ help="Exclude topics matching the follow regular expression (subtracts from -a o
cmd = ['record']
cmd.extend(['-m', str(options.buffsize)])
cmd.extend(['-c', str(options.num)])
cmd.extend(['-S', str(options.split)])
cmd.extend(['--buffsize', str(options.buffsize)])
cmd.extend(['--limit', str(options.num)])
cmd.extend(['--split', str(options.split)])
if options.prefix: cmd.extend(["-f", options.prefix])
if options.name: cmd.extend(["-F", options.name])
if options.exclude_regex: cmd.extend(["-x", options.exclude_regex])
if options.all: cmd.extend(["-a"])
if options.regex: cmd.extend(["-e"])
#if options.zlib: cmd.extend(["-z"])
if options.bz2: cmd.extend(["-j"])
if options.quiet: cmd.extend(["--quiet"])
if options.prefix: cmd.extend(["-o", options.prefix])
if options.name: cmd.extend(["-O", options.name])
if options.exclude_regex: cmd.extend(["--exclude", options.exclude_regex])
if options.all: cmd.extend(["--all"])
if options.regex: cmd.extend(["--regex"])
if options.bz2: cmd.extend(["--bz2"])
cmd.extend(args)