Test Record Bag

.gitignore

@@ -7,4 +7,5 @@ __pycache__
 
 .config
 .env
-.vscode
+.vscode
+.bag

onboard/src/system_utils/launch/record_bag.launch

@@ -1,6 +1,7 @@
 <launch>
     <arg name="enable_recording" default="true" />
     <node name="record_bag" pkg="system_utils" type="record_bag.py" output="screen">
-        <param name="enable_recording" value="$(arg enable_recording)" />
+		<param name="bypass" value="$(var bypass)" />
+        <param name="enable_recording" value="$(var enable_recording)" />
     </node>
 </launch>

onboard/src/system_utils/system_utils/record_bag.py

@@ -25,12 +25,18 @@ def __init__(self):
 
         # Initialize variables
         self.process = None
+        bypass = self.declare_parameter('bypass', False).value
+        self.get_logger().info(f"bypass: {bypass}")
+        self.enable_recording = self.declare_parameter('enable_recording', False).value
 
         # Initialize last message time to current time
         self.last_msg_time = Clock().now()
 
         # Subscribe to the voltage topic
-        self.create_subscription(Float64, 'sensors/voltage', self.voltage_callback, 10)
+        if bypass:
+            self.start_recording()
+        else:
+            self.create_subscription(Float64, 'sensors/voltage', self.voltage_callback, 10)
 
         # Create a timer to check for timeout; calls check_timeout every second
         self.timer = self.create_timer(1, self.check_timeout)
@@ -58,7 +64,7 @@ def voltage_callback(self, data: Float64):
 
         # If voltage is above 5V and the node is not currently recording, start recording
         else:
-            if self.process is None:
+            if self.process is None and self.enable_recording:
                 self.start_recording()
 
     def start_recording(self):
@@ -103,7 +109,7 @@ def check_timeout(self):
         current_time = Clock().now()
         if (current_time - self.last_msg_time) > self.TIMEOUT_DURATION:
             if self.process is not None:
-                self.get_logger().info(f"No voltage messages received for {self.TIMEOUT_DURATION.to_sec()} seconds. "
+                self.get_logger().info(f"No voltage messages received for {self.TIMEOUT_DURATION.nanoseconds / 1e9} seconds. "
                               f"Stopping recording.")
                 self.stop_recording()
                 self.shutdown_node()
@@ -126,7 +132,9 @@ def main(args=None):
         pass
     finally:
         recorder.stop_recording()
-        recorder.get_logger().info("Shutting down. Stopping recording.")
+        if rclpy.ok():
+            recorder.get_logger().info("Shutting down. Stopping recording.")
+
         recorder.destroy_node()
         if rclpy.ok():
             rclpy.shutdown()

onboard/src/system_utils/system_utils/system_info_publisher.py

@@ -16,6 +16,7 @@ def __init__(self):
         super().__init__(self.NODE_NAME)
         self._pub = self.create_publisher(SystemUsage, self.TOPIC_NAME, 10)
         self._current_msg = SystemUsage()
+        self.run()
 
     def get_cpu(self):
         self._current_msg.cpu_percent = psutil.cpu_percent(interval=0.5)
@@ -46,16 +47,18 @@ def get_disk(self):
         self._current_msg.disk.percentage = psutil.disk_usage('/').percent
 
     def run(self):
-        r = self.create_rate(15)
-        while not rclpy.ok():
+        def timer_callback():
+            if rclpy.ok():
+                timer.cancel()
             self._current_msg = SystemUsage()
             self.get_cpu()
             # self.get_gpu()
             self.get_ram()
             self.get_disk()
 
             self._pub.publish(self._current_msg)
-            r.sleep()
+
+        timer = self.create_timer(1/15.0, timer_callback)
 
 def main(args=None):
     rclpy.init(args=args)