ros2GH-27 Minor refactoring

bosch-io · Dec 6, 2018 · 4def41e · 4def41e
1 parent 6cc6171
commit 4def41e
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Showing 3 changed files with 31 additions and 28 deletions.
diff --git a/ros2bag/ros2bag/verb/record.py b/ros2bag/ros2bag/verb/record.py
@@ -48,10 +48,12 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
              ' rmw currently in use')
         parser.add_argument(
             '--no-discovery', action='store_true',
-            help='disables topic auto discovery during recording')
+            help='disables topic auto discovery during recording: only topics present at '
+             'startup will be recorded')
         parser.add_argument(
             '-p', '--polling-interval', default=100,
-            help='time in ms to wait between querying available topics for recording'
+            help='time in ms to wait between querying available topics for recording. It has no '
+             'effect if --no-discovery is enabled.'
         )
 
     def create_bag_directory(self, uri):

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -39,7 +39,7 @@ void Recorder::record(const RecordOptions & record_options)
     throw std::runtime_error("No serialization format specified!");
   }
   serialization_format_ = record_options.rmw_serialization_format;
-  ROSBAG2_TRANSPORT_LOG_INFO("Setup complete. Listening for topics...");
+  ROSBAG2_TRANSPORT_LOG_INFO("Listening for topics...");
   subscribe_topics(record_options.topics);
   std::future<void> discovery_future;
   if (!record_options.is_discovery_disabled) {
@@ -55,29 +55,6 @@ void Recorder::record(const RecordOptions & record_options)
   subscriptions_.clear();
 }
 
-std::shared_ptr<GenericSubscription>
-Recorder::create_subscription(
-  const std::string & topic_name, const std::string & topic_type)
-{
-  auto subscription = node_->create_generic_subscription(
-    topic_name,
-    topic_type,
-    [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
-      auto bag_message = std::make_shared<rosbag2::SerializedBagMessage>();
-      bag_message->serialized_data = message;
-      bag_message->topic_name = topic_name;
-      rcutils_time_point_value_t time_stamp;
-      int error = rcutils_system_time_now(&time_stamp);
-      if (error != RCUTILS_RET_OK) {
-        ROSBAG2_TRANSPORT_LOG_ERROR_STREAM(
-          "Error getting current time. Error:" << rcutils_get_error_string().str);
-      }
-      bag_message->time_stamp = time_stamp;
-
-      writer_->write(bag_message);
-    });
-  return subscription;
-}
 
 std::future<void> Recorder::launch_topics_discovery(
   std::chrono::milliseconds topic_polling_interval,
@@ -140,6 +117,30 @@ void Recorder::subscribe_topic(const rosbag2::TopicMetadata & topic)
   }
 }
 
+std::shared_ptr<GenericSubscription>
+Recorder::create_subscription(
+  const std::string & topic_name, const std::string & topic_type)
+{
+  auto subscription = node_->create_generic_subscription(
+    topic_name,
+    topic_type,
+    [this, topic_name](std::shared_ptr<rmw_serialized_message_t> message) {
+      auto bag_message = std::make_shared<rosbag2::SerializedBagMessage>();
+      bag_message->serialized_data = message;
+      bag_message->topic_name = topic_name;
+      rcutils_time_point_value_t time_stamp;
+      int error = rcutils_system_time_now(&time_stamp);
+      if (error != RCUTILS_RET_OK) {
+        ROSBAG2_TRANSPORT_LOG_ERROR_STREAM(
+          "Error getting current time. Error:" << rcutils_get_error_string().str);
+      }
+      bag_message->time_stamp = time_stamp;
+
+      writer_->write(bag_message);
+    });
+  return subscription;
+}
+
 void Recorder::record_messages() const
 {
   spin(node_);

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.hpp b/rosbag2_transport/src/rosbag2_transport/recorder.hpp
@@ -46,12 +46,12 @@ class Recorder
   void record(const RecordOptions & record_options);
 
 private:
-  std::shared_ptr<GenericSubscription> create_subscription(
-    const std::string & topic_name, const std::string & topic_type);
   std::future<void> launch_topics_discovery(
     std::chrono::milliseconds topic_polling_interval,
     const std::vector<std::string> & topics_to_record = {});
   bool subscribe_topics(const std::vector<std::string> & topics_to_record);
+  std::shared_ptr<GenericSubscription> create_subscription(
+    const std::string & topic_name, const std::string & topic_type);
   void subscribe_all_missing_topics(
     const std::unordered_map<std::string, std::string> & all_topics_and_types);
   void subscribe_topic(const rosbag2::TopicMetadata & topic);