feat: add record_option option

tier4 · Mar 6, 2025 · f1411d7 · f1411d7
1 parent 19732f3
commit f1411d7
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Showing 4 changed files with 63 additions and 10 deletions.
diff --git a/...io/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp b/...io/openscenario_interpreter/include/openscenario_interpreter/openscenario_interpreter.hpp
@@ -76,6 +76,8 @@ class Interpreter : public rclcpp_lifecycle::LifecycleNode,
 
   String record_storage_id;
 
+  String record_option;
+
   std::shared_ptr<OpenScenario> script;
 
   std::list<std::shared_ptr<ScenarioDefinition>> scenarios;

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/record.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/record.hpp
@@ -65,6 +65,36 @@ auto start(Ts &&... xs) -> pid_t
   }
 }
 
+inline auto start_with_vector(const std::vector<std::string>& args) -> pid_t
+{
+  std::vector<std::string> command{
+    "python3", boost::algorithm::replace_all_copy(concealer::dollar("which ros2"), "\n", ""), "bag",
+    "record"};
+
+  command.insert(command.end(), args.begin(), args.end());
+
+  switch (process_id = fork()) {
+    case -1:
+      throw std::system_error(errno, std::system_category());
+
+    case 0:
+#ifndef OPENSCENARIO_INTERPRETER_VERBOSE_RECORD
+      if (const auto fd = ::open("/dev/null", O_WRONLY)) {
+        ::dup2(fd, STDOUT_FILENO);
+        ::close(fd);
+      }
+#endif
+    if (concealer::execute(command) < 0) {
+      std::cerr << std::system_error(errno, std::system_category()).what() << std::endl;
+      std::exit(EXIT_FAILURE);
+    }
+    return 0;
+
+    default:
+      return process_id;
+  }
+}
+
 auto stop() -> void;
 }  // namespace record
 }  // namespace openscenario_interpreter

diff --git a/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp b/openscenario/openscenario_interpreter/src/openscenario_interpreter.cpp
@@ -49,7 +49,8 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options)
   output_directory("/tmp"),
   publish_empty_context(false),
   record(false),
-  record_storage_id("")
+  record_storage_id(""),
+  record_option("")
 {
   DECLARE_PARAMETER(local_frame_rate);
   DECLARE_PARAMETER(local_real_time_factor);
@@ -58,6 +59,7 @@ Interpreter::Interpreter(const rclcpp::NodeOptions & options)
   DECLARE_PARAMETER(publish_empty_context);
   DECLARE_PARAMETER(record);
   DECLARE_PARAMETER(record_storage_id);
+  DECLARE_PARAMETER(record_option);
 
   declare_parameter<std::string>("speed_condition", "legacy");
   SpeedCondition::compatibility =
@@ -120,6 +122,7 @@ auto Interpreter::on_configure(const rclcpp_lifecycle::State &) -> Result
       GET_PARAMETER(publish_empty_context);
       GET_PARAMETER(record);
       GET_PARAMETER(record_storage_id);
+      GET_PARAMETER(record_option);
 
       script = std::make_shared<OpenScenario>(osc_path);
 
@@ -260,16 +263,31 @@ auto Interpreter::on_activate(const rclcpp_lifecycle::State &) -> Result
       },
       [&]() {
         if (record) {
-          if (record_storage_id == "") {
-            record::start(
-              "-a", "--exclude", "/sensing/camera/.*", "-o",
-              boost::filesystem::path(osc_path).replace_extension("").string());
-          } else {
-            record::start(
-              "-a", "--exclude", "/sensing/camera/.*", "-o",
-              boost::filesystem::path(osc_path).replace_extension("").string(), "-s",
-              record_storage_id);
+          std::vector<std::string> options;
+          options.push_back("-a");
+          options.push_back("--exclude");
+          options.push_back("/sensing/camera/.*");
+          options.push_back("-o");
+          options.push_back(boost::filesystem::path(osc_path).replace_extension("").string());
+          if (record_storage_id != "") {
+            options.push_back("-s");
+            options.push_back(record_storage_id);
+          }
+          if(record_option != ""){
+            auto split = [](const std::string& s)->std::vector<std::string> {
+    			std::istringstream iss(s);
+    			std::vector<std::string> result;
+    			std::string token;
+
+    			while (iss >> token) {
+        			result.push_back(token);
+    			}
+    			return result;
+			};
+            auto splitted = split(record_option);
+            options.insert(options.end(), splitted.begin(), splitted.end());
           }
+          record::start_with_vector(options);
         }
 
         SimulatorCore::activate(

diff --git a/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py b/test_runner/scenario_test_runner/launch/scenario_test_runner.launch.py
@@ -88,6 +88,7 @@ def launch_setup(context, *args, **kwargs):
     publish_empty_context               = LaunchConfiguration("publish_empty_context",                  default=False)
     record                              = LaunchConfiguration("record",                                 default=True)
     record_storage_id                   = LaunchConfiguration("record_storage_id",                      default="")
+    record_option                       = LaunchConfiguration("record_option",                          default="")
     rviz_config                         = LaunchConfiguration("rviz_config",                            default=default_rviz_config_file())
     scenario                            = LaunchConfiguration("scenario",                               default=Path("/dev/null"))
     sensor_model                        = LaunchConfiguration("sensor_model",                           default="")
@@ -116,6 +117,7 @@ def launch_setup(context, *args, **kwargs):
     print(f"publish_empty_context               := {publish_empty_context.perform(context)}")
     print(f"record                              := {record.perform(context)}")
     print(f"record_storage_id                   := {record_storage_id.perform(context)}")
+    print(f"record_option                       := {record_option.perform(context)}")
     print(f"rviz_config                         := {rviz_config.perform(context)}")
     print(f"scenario                            := {scenario.perform(context)}")
     print(f"sensor_model                        := {sensor_model.perform(context)}")
@@ -144,6 +146,7 @@ def make_parameters():
             {"publish_empty_context" : publish_empty_context},
             {"record": record},
             {"record_storage_id": record_storage_id},
+            {"record_option": record_option},
             {"rviz_config": rviz_config},
             {"sensor_model": sensor_model},
             {"sigterm_timeout": sigterm_timeout},