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Add blacklisted topics #1

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merged 2 commits into from
Aug 31, 2022
Merged

Add blacklisted topics #1

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d6260e0
Add blacklisted topics
dimaxano Aug 19, 2022
d28926b
Add is_blacklist argument
dimaxano Aug 31, 2022
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2 changes: 2 additions & 0 deletions rosbag2_snapshot/include/rosbag2_snapshot/snapshotter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,6 +131,8 @@ struct SnapshotterOptions
// Provides list of topics to snapshot and their limit configurations
topics_t topics_;

topics_t blacklist_topics_;

SnapshotterOptions(
rclcpp::Duration default_duration_limit = rclcpp::Duration(30s),
int32_t default_memory_limit = -1);
Expand Down
28 changes: 22 additions & 6 deletions rosbag2_snapshot/src/snapshotter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,8 @@ bool SnapshotterOptions::addTopic(
rclcpp::Duration duration,
int32_t memory)
{
if(blacklist_topics_.find(topic_details) != blacklist_topics_.end()) return false;

SnapshotterTopicOptions ops(duration, memory);
std::pair<topics_t::iterator, bool> ret;
ret = topics_.emplace(topic_details, ops);
Expand Down Expand Up @@ -287,6 +289,7 @@ Snapshotter::~Snapshotter()
void Snapshotter::parseOptionsFromParams()
{
std::vector<std::string> topics{};
bool is_blacklist = true;

try {
options_.default_duration_limit_ = rclcpp::Duration::from_seconds(
Expand Down Expand Up @@ -319,8 +322,18 @@ void Snapshotter::parseOptionsFromParams()
}
}

try {
is_blacklist = declare_parameter<bool>(
"is_blacklist", true);
} catch (const rclcpp::ParameterTypeException & ex) {
if (std::string{ex.what()}.find("not set") == std::string::npos) {
RCLCPP_ERROR(get_logger(), "is_blacklist must be a bool.");
throw ex;
}
}

if (topics.size() > 0) {
options_.all_topics_ = false;
options_.all_topics_ = is_blacklist ? true : false;

for (const auto & topic : topics) {
std::string prefix = "topic_details." + topic;
Expand Down Expand Up @@ -364,9 +377,10 @@ void Snapshotter::parseOptionsFromParams()
TopicDetails dets{};
dets.name = topic;
dets.type = topic_type;

if(is_blacklist) options_.blacklist_topics_.insert(SnapshotterOptions::topics_t::value_type(dets, opts));
else options_.topics_.insert(SnapshotterOptions::topics_t::value_type(dets, opts));

options_.topics_.insert(
SnapshotterOptions::topics_t::value_type(dets, opts));
}
} else {
options_.all_topics_ = true;
Expand Down Expand Up @@ -433,10 +447,12 @@ void Snapshotter::subscribe(
opts.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
opts.topic_stats_options.publish_topic = topic_details.name + "/statistics";

bool is_image = topic_details.type == "sensor_msgs/msg/Image";

auto sub = create_generic_subscription(
topic_details.name,
topic_details.type,
rclcpp::QoS{10},
is_image ? rclcpp::SensorDataQoS() : rclcpp::QoS{10},
std::bind(&Snapshotter::topicCb, this, _1, queue),
opts
);
Expand Down Expand Up @@ -643,8 +659,8 @@ void Snapshotter::pollTopics()
}

if (name_type.second.size() > 1) {
RCLCPP_ERROR(get_logger(), "Subscribed topic has more than one associated type.");
return;
RCLCPP_INFO_STREAM_ONCE(get_logger(), "Subscribed topic has more than one associated type " << name_type.first );
continue;
}

TopicDetails details{};
Expand Down