From e85e9295fb749b1042b15620c6a355ab69101f00 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Mon, 19 Jan 2015 20:47:35 +0100
Subject: [PATCH] bagserver/client
---
src/bagserver.py | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
diff --git a/src/bagserver.py b/src/bagserver.py
index faa2437..1fe0e36 100755
--- a/src/bagserver.py
+++ b/src/bagserver.py
@@ -1,15 +1,34 @@
#!/usr/bin/env python
+import subprocess
+import sys
+import signal
+import os
+
import rospy
from lrs_srvs.srv import *
+procs = {}
+
def start_recording(req):
print "start_recording", req
+ command = "rosbag record -o " + req.uuid
+ print "COMMAND: ", command, " ".join(req.topics)
+ args = ["rosbag", "record", "-o", req.uuid]
+ args += req.topics
+ procs[req.uuid] = subprocess.Popen(args, 0, None, sys.stdout, sys.stdout,
+ preexec_fn=os.setsid)
+ print "STARTING: ", procs[req.uuid]
return BSStartRecordingResponse(True, 0, "")
def stop_recording(req):
print "stop_recording", req
+ print "STOPPING: ", procs[req.uuid]
+ pid = procs[req.uuid].pid
+# procs[req.uuid].kill()
+# procs[req.uuid].send_signal(signal.CTRL_C_EVENT)
+ os.killpg(os.getpgid(pid), signal.SIGINT)
return BSStopRecordingResponse(True, 0, "")
if __name__ == "__main__":
--
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