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[service introspection] add syntactic sugar for recording services #1063

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[service introspection] add syntactic sugar for recording services #1063

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8d846c3
syntactic sugar for recording services
ihasdapie Aug 8, 2022
d2eb97f
fix linting
ihasdapie Aug 10, 2022
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17 changes: 15 additions & 2 deletions ros2bag/ros2bag/verb/record.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
import datetime
import os

from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.qos import InvalidQoSProfileException
from ros2bag.api import convert_yaml_to_qos_profile
from ros2bag.api import print_error
Expand Down Expand Up @@ -77,6 +78,9 @@ def add_arguments(self, parser, cli_name): # noqa: D102
parser.add_argument(
'-s', '--storage', default=default_writer, choices=writer_choices,
help=f"storage identifier to be used, defaults to '{default_writer}'")
parser.add_argument(
'-S', '--services',
action='extend', nargs='*', help='Name(s) of service to record')
parser.add_argument(
'-f', '--serialization-format', default='', choices=serialization_choices,
help='rmw serialization format in which the messages are saved, defaults to the'
Expand Down Expand Up @@ -174,8 +178,10 @@ def main(self, *, args): # noqa: D102
if (args.all and (args.topics or args.regex)) or (args.topics and args.regex):
return print_error('Must specify only one option out of topics, --regex or --all')
# one out of "all", "topics" and "regex" must be true
if not(args.all or (args.topics and len(args.topics) > 0) or (args.regex)):
return print_error('Invalid choice: Must specify topic(s), --regex or --all')
if not(args.all or (args.topics and len(args.topics) > 0) or (args.regex) or
(args.services and len(args.services) > 0)):
return print_error(
'Invalid choice: Must specify topic(s), --services, --regex or --all')

if args.topics and args.exclude:
return print_error('--exclude argument cannot be used when specifying a list '
Expand Down Expand Up @@ -221,6 +227,13 @@ def main(self, *, args): # noqa: D102
storage_config_uri=storage_config_file,
snapshot_mode=args.snapshot_mode
)

if args.services is not None:
for srv in args.services:
args.topics.append(
srv + _rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX)
args.include_hidden_topics = True

record_options = RecordOptions()
record_options.all = args.all
record_options.is_discovery_disabled = args.no_discovery
Expand Down