feat(rosbag2_cpp): Add SplitBagfile recording service.

Fixes #1087 Tested from the command line and verified that below command closed one log file and opened another ros2 service call /rosbag2_recorder/split_bagfile rosbag2_interfaces/srv/SplitBagfile Signed-off-by: Rick Shanor <rickshanor@gmail.com>
ros2 · Oct 5, 2022 · 5e5679e · 5e5679e
1 parent c92010b
commit 5e5679e
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Showing 9 changed files with 37 additions and 1 deletion.
diff --git a/rosbag2_cpp/include/rosbag2_cpp/writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writer.hpp
@@ -103,6 +103,11 @@ class ROSBAG2_CPP_PUBLIC Writer final
    */
   bool take_snapshot();
 
+  /**
+   * Close the current bagfile and opens the next bagfile.
+   */
+  void split_bagfile();
+
   /**
    * Remove a new topic in the underlying storage.
    * If creation of subscription fails remove the topic

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writer_interfaces/base_writer_interface.hpp b/rosbag2_cpp/include/rosbag2_cpp/writer_interfaces/base_writer_interface.hpp
@@ -53,6 +53,11 @@ class ROSBAG2_CPP_PUBLIC BaseWriterInterface
    */
   virtual bool take_snapshot() = 0;
 
+  /**
+   * Close the current bagfile and opens the next bagfile.
+   */
+  virtual void split_bagfile() = 0;
+
   virtual void add_event_callbacks(const bag_events::WriterEventCallbacks & callbacks) = 0;
 };
 

diff --git a/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp b/rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
@@ -147,7 +147,7 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   rosbag2_storage::BagMetadata metadata_;
 
   // Closes the current backed storage and opens the next bagfile.
-  virtual void split_bagfile();
+  void split_bagfile() override;
 
   // Checks if the current recording bagfile needs to be split and rolled over to a new file.
   bool should_split_bagfile(

diff --git a/rosbag2_cpp/src/rosbag2_cpp/writer.cpp b/rosbag2_cpp/src/rosbag2_cpp/writer.cpp
@@ -83,6 +83,12 @@ bool Writer::take_snapshot()
   return writer_impl_->take_snapshot();
 }
 
+void Writer::split_bagfile()
+{
+  std::lock_guard<std::mutex> writer_lock(writer_mutex_);
+  return writer_impl_->split_bagfile();
+}
+
 void Writer::write(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> message)
 {
   std::lock_guard<std::mutex> writer_lock(writer_mutex_);

diff --git a/rosbag2_interfaces/CMakeLists.txt b/rosbag2_interfaces/CMakeLists.txt
@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/Seek.srv"
   "srv/SetRate.srv"
   "srv/Snapshot.srv"
+  "srv/SplitBagfile.srv"
   "srv/Stop.srv"
   "srv/TogglePaused.srv"
   DEPENDENCIES builtin_interfaces

diff --git a/rosbag2_interfaces/srv/SplitBagfile.srv b/rosbag2_interfaces/srv/SplitBagfile.srv
@@ -0,0 +1 @@
+---
diff --git a/rosbag2_transport/include/rosbag2_transport/recorder.hpp b/rosbag2_transport/include/rosbag2_transport/recorder.hpp
@@ -31,6 +31,7 @@
 #include "rosbag2_cpp/writer.hpp"
 
 #include "rosbag2_interfaces/srv/snapshot.hpp"
+#include "rosbag2_interfaces/srv/split_bagfile.hpp"
 
 #include "rosbag2_interfaces/msg/write_split_event.hpp"
 
@@ -158,6 +159,7 @@ class Recorder : public rclcpp::Node
   std::unordered_map<std::string, rclcpp::QoS> topic_qos_profile_overrides_;
   std::unordered_set<std::string> topic_unknown_types_;
   rclcpp::Service<rosbag2_interfaces::srv::Snapshot>::SharedPtr srv_snapshot_;
+  rclcpp::Service<rosbag2_interfaces::srv::SplitBagfile>::SharedPtr srv_split_bagfile_;
   std::atomic<bool> paused_ = false;
   // Keyboard handler
   std::shared_ptr<KeyboardHandler> keyboard_handler_;

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -149,6 +149,16 @@ void Recorder::record()
       });
   }
 
+  srv_split_bagfile_ = create_service<rosbag2_interfaces::srv::SplitBagfile>(
+    "~/split_bagfile",
+    [this](
+      const std::shared_ptr<rmw_request_id_t>/* request_header */,
+      const std::shared_ptr<rosbag2_interfaces::srv::SplitBagfile::Request>,
+      const std::shared_ptr<rosbag2_interfaces::srv::SplitBagfile::Response> response)
+    {
+      writer_->split_bagfile();
+    });
+
   // Start the thread that will publish events
   event_publisher_thread_ = std::thread(&Recorder::event_publisher_thread_main, this);
 

diff --git a/rosbag2_transport/test/rosbag2_transport/mock_sequential_writer.hpp b/rosbag2_transport/test/rosbag2_transport/mock_sequential_writer.hpp
@@ -73,6 +73,12 @@ class MockSequentialWriter : public rosbag2_cpp::writer_interfaces::BaseWriterIn
     return true;
   }
 
+  void split_bagfile() override
+  {
+    auto info = std::make_shared<rosbag2_cpp::bag_events::BagSplitInfo>();
+    callback_manager_.execute_callbacks(rosbag2_cpp::bag_events::BagEvent::WRITE_SPLIT, info);
+  }
+
   void
   add_event_callbacks(const rosbag2_cpp::bag_events::WriterEventCallbacks & callbacks) override
   {