work

src/mil_common/mil_tools/src/online_bagger_server.cpp

@@ -0,0 +1,66 @@
+#include <mil_tools/fs/path.h>
+#include <time.h>
+
+#include <deque>
+#include <filesystem>
+#include <rclcpp>
+#include <rosbag2_cpp/writer.hpp>
+#include <unordered_map>
+
+class OnlineBaggerServer : public rclcpp::Node
+{
+private:
+  int successful_subscriptions;
+  int total_subscriptions;
+  std::unordered_map<std::string, std::vector<std::string>> groups_;
+  // topic name to instances of messages received
+  std::unordered_map<std::string, std::vector<rclcpp::SerializedMessage>> messages_;
+  std::string bag_dir;
+
+  // Gets todays date as YYYY-mm-dd
+  std::string _today_date()
+  {
+    time_t now = time(0);
+    struct tm tstruct;
+    char buf[80];
+    tstruct = *localtime(&now);
+    strftime(buf, sizeof(buf), "%Y-%m-%d", &tstruct);
+    return std::string(buf);
+  }
+
+  void _get_params()
+  {
+    bag_dir = this->get_parameter_or<std::string>("~bag_dir",
+                                                  mil_tools::fs::path::expanduser("~/bags") + "/" + _today_date());
+    if (!std::filesystem::exists(bag_dir))
+    {
+      std::filesystem::create_directories(bag_dir);
+    }
+  }
+
+public:
+  OnlineBaggerServer() : Node("online_bagger_server"), successful_subscriptions(0)
+  {
+    if (total_subscriptions == 0)
+    {
+      RCLCPP_ERROR(this->get_logger(), "No subscriptions requested");
+      rclcpp::shutdown();
+    }
+  }
+
+  void add_subscription()
+
+      void callback
+
+      void prune()
+  {
+  }
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<OnlineBaggerServer>());
+  rclcpp::shutdown();
+  return 0;
+}