improve documentation and readability + increase split (#394)

astrobee/config/management/data_bagger.config

@@ -26,7 +26,7 @@
 startup_time_secs = 20
 
 bags_save_directory = "/data/bags/"
-bag_size_bytes = 96*1024*1024
+bag_size_bytes = 5*96*1024*1024
 
 default_topics = {{topic="gnc/ctl/traj", downlink="immediate", frequency=-1},
                   {topic="gnc/ekf", downlink="immediate", frequency=-1},

management/data_bagger/include/data_bagger/data_bagger.h

@@ -54,39 +54,51 @@ class DataBagger : public ff_util::FreeFlyerNodelet {
   DataBagger();
   ~DataBagger();
 
-  bool SetDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
+  // Service that sets delayed recording settings
+  bool SetDelayedDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
                             ff_msgs::SetDataToDisk::Response &res);
 
-  bool EnableRecordingService(ff_msgs::EnableRecording::Request &req,
+  // This service enables and disables the delayed recording
+  bool EnableDelayedRecordingService(ff_msgs::EnableRecording::Request &req,
                               ff_msgs::EnableRecording::Response &res);
 
  protected:
   virtual void Initialize(ros::NodeHandle *nh);
-  bool ReadParams();
+  bool ReadParams();  // Reads data bagger parameters and default profile
 
  private:
+  // Reads all topic names published by the robot
   void GetTopicNames();
 
+  // Recursively created bag destionation folder
   bool MakeDir(std::string dir, bool assert_init_fault, std::string &err_msg);
 
+  // Gets the date for name generation
   std::string GetDate(bool with_time);
 
-  void FixTopicNamespace(std::string &topic);
+  // Adds the namespace to topic names
+  void AddTopicNamespace(std::string &topic);
 
+  // Timer for when the robot finishes startup, starts immediate recording
   void OnStartupTimer(ros::TimerEvent const& event);
 
+  // Sets immediate recording settings
   bool SetImmediateDataToDisk(std::string &err_msg);
 
   bool SetDelayedDataToDisk(ff_msgs::DataToDiskState &state,
                             std::string &err_msg);
 
+  // Start Recordings
   void StartDelayedRecording();
   void StartImmediateRecording();
 
+  // Clear topics, stop recording
   void ResetRecorders(bool immediate);
 
+  // Update data bagger profile state
   void GenerateCombinedState(ff_msgs::DataToDiskState *ground_state);
 
+  // Publish data bagger state
   void PublishState();
 
   astrobee_rosbag::Recorder *delayed_recorder_, *immediate_recorder_;

management/data_bagger/readme.md

@@ -1,3 +1,7 @@
 \page data_bagger Data Bagger
 
-TBD
+This node manages recording for the Astrobee robot. This node is mainly used with GDS where different profiles can be easily loaded and managed.
+
+It distinguishes between two types of recording, immediate and delayed.
+ * Immediate recording: enabled for the entire duration where the flight software is on. The topics it records are defined in the config file "management/data_bagger.config" and can't be customized during flight.
+ * Delayed recording: used for data collection, the topics it records can be customized and the recording can start and stop at any time.

management/data_bagger/src/data_bagger.cc

@@ -61,12 +61,12 @@ void DataBagger::Initialize(ros::NodeHandle *nh) {
 
   set_service_ =
           nh->advertiseService(SERVICE_MANAGEMENT_DATA_BAGGER_SET_DATA_TO_DISK,
-                               &DataBagger::SetDataToDiskService,
+                               &DataBagger::SetDelayedDataToDiskService,
                                this);
 
   record_service_ =
           nh->advertiseService(SERVICE_MANAGEMENT_DATA_BAGGER_ENABLE_RECORDING,
-                               &DataBagger::EnableRecordingService,
+                               &DataBagger::EnableDelayedRecordingService,
                                this);
 
   // Timer used to determine when to query ros for the topic list. Timer is one
@@ -134,7 +134,7 @@ bool DataBagger::ReadParams() {
         return false;
       }
 
-      FixTopicNamespace(save_settings.topic_name);
+      AddTopicNamespace(save_settings.topic_name);
 
       if (!topic_entry.GetStr("downlink", &downlink)) {
         this->AssertFault(ff_util::INITIALIZATION_FAILED,
@@ -244,7 +244,7 @@ bool DataBagger::MakeDir(std::string dir,
 // give the ros bagger the topic gnc/ekf and there is a namespace of bumble, it
 // will subscribe to /bumble/gnc/ekf but the topic in the bag it records will be
 // gnc/ekf.
-void DataBagger::FixTopicNamespace(std::string &topic) {
+void DataBagger::AddTopicNamespace(std::string &topic) {
   // This function assumes a user doesn't put the namespace in the topic. If
   // they do, this won't work
   // Check topic not empty
@@ -277,7 +277,7 @@ void DataBagger::OnStartupTimer(ros::TimerEvent const& event) {
   }
 }
 
-bool DataBagger::SetDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
+bool DataBagger::SetDelayedDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
                                       ff_msgs::SetDataToDisk::Response &res) {
   // Don't allow set data to disk when we are recording
   if (combined_data_state_.recording) {
@@ -311,7 +311,7 @@ bool DataBagger::SetDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
       return true;
     }
 
-    FixTopicNamespace(setting.topic_name);
+    AddTopicNamespace(setting.topic_name);
     recorder_options_delayed_.topics.push_back(setting.topic_name);
 
     // TODO(Someone) Need to figure out how to record topics at different
@@ -334,7 +334,7 @@ bool DataBagger::SetDataToDiskService(ff_msgs::SetDataToDisk::Request &req,
   return true;
 }
 
-bool DataBagger::EnableRecordingService(ff_msgs::EnableRecording::Request &req,
+bool DataBagger::EnableDelayedRecordingService(ff_msgs::EnableRecording::Request &req,
                                       ff_msgs::EnableRecording::Response &res) {
   // Check if we are starting a recording or stopping a recording
   if (req.enable) {