add project name and root frame paramter to direct dump

DFKI-NI · Dec 13, 2022 · db5a70d · db5a70d
1 parent e0ce4f8
commit db5a70d
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Showing 6 changed files with 49 additions and 5 deletions.
diff --git a/examples/cpp/ROS/launch/hdf5-node.launch b/examples/cpp/ROS/launch/hdf5-node.launch
@@ -3,9 +3,13 @@
     <arg name="topics" default="['/image']"/>
     <arg name="path" default="/seerep/seerep-data/"/>
     <arg name="filename" default="3e2a9b3a-2ab0-48a7-87c2-7bf1ea6392a8"/>
+    <arg name="project_root_frame" default="map"/>
+    <arg name="project_name" default="testproject"/>
     <node name="seerep_ros_examples_hdf5_node" pkg="seerep_ros_examples" type="seerep_ros_examples_hdf5_node" output="screen">
         <rosparam param="topics" subst_value="True">$(arg topics)</rosparam>
         <rosparam param="path" subst_value="True">$(arg path)</rosparam>
         <rosparam param="filename" subst_value="True">$(arg filename)</rosparam>
+        <rosparam param="project_root_frame" subst_value="True">$(arg project_root_frame)</rosparam>
+        <rosparam param="project_name" subst_value="True">$(arg project_name)</rosparam>
     </node>
 </launch>
diff --git a/examples/cpp/ROS/src/hdf5-node.cpp b/examples/cpp/ROS/src/hdf5-node.cpp
@@ -25,7 +25,19 @@ Hdf5Node::Hdf5Node(const ros::NodeHandle& nodeHandle, const ros::NodeHandle& pri
     ROS_WARN_STREAM("Filename is an invalid UUID, using generated UUID instead");
   }
 
-  hdf5Access_ = std::make_unique<seerep_hdf5_ros::Hdf5Ros>(path, filename);
+  std::string projectName;
+  if (!privateNodeHandle_.getParam("project_name", projectName))
+  {
+    throw std::runtime_error("No project name specified");
+  }
+
+  std::string rootFrameId;
+  if (!privateNodeHandle_.getParam("project_root_frame", rootFrameId))
+  {
+    throw std::runtime_error("No root frame specified");
+  }
+
+  hdf5Access_ = std::make_unique<seerep_hdf5_ros::Hdf5Ros>(path, filename, rootFrameId, projectName);
 
   std::vector<std::string> topics;
   if (!privateNodeHandle_.getParam("topics", topics))

diff --git a/seerep-hdf5/seerep-hdf5-ros/CMakeLists.txt b/seerep-hdf5/seerep-hdf5-ros/CMakeLists.txt
@@ -14,26 +14,42 @@ find_package(catkin REQUIRED
 	sensor_msgs
 )
 
+find_package(SeerepHdf5Core REQUIRED)
+
 include(cmake/FindHighFive.cmake)
 find_package(HighFive REQUIRED)
 
+set(Boost_USE_STATIC_LIBS OFF)
+set(Boost_USE_MULTITHREADED ON)
+set(Boost_USE_STATIC_RUNTIME OFF)
+add_definitions(-DBOOST_LOG_DYN_LINK)
+
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES seerep_hdf5_ros
   CATKIN_DEPENDS std_msgs geometry_msgs sensor_msgs
-  DEPENDS HighFive
+  DEPENDS HighFive SeerepHdf5Core
 )
 
 include_directories(
 	include
 	${HighFive_INCLUDE_DIRS}
+  ${SeerepHdf5Core_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
 	${catkin_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
     src/hdf5-ros.cpp
 )
 
+target_link_libraries(${PROJECT_NAME}
+	${HighFive_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${SeerepHdf5Core_LIBRARIES}
+	${catkin_LIBRARIES}
+)
+
 add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(TARGETS ${PROJECT_NAME}

diff --git a/seerep-hdf5/seerep-hdf5-ros/include/seerep-hdf5-ros/hdf5-ros.h b/seerep-hdf5/seerep-hdf5-ros/include/seerep-hdf5-ros/hdf5-ros.h
@@ -1,7 +1,8 @@
 #ifndef SEEREP_HDF5_ROS_H_
 #define SEEREP_HDF5_ROS_H_
 
-// std
+// Std
+#include <mutex>
 #include <string>
 
 // HighFive
@@ -17,13 +18,17 @@
 #include "sensor_msgs/Image.h"
 #include "std_msgs/Header.h"
 
+// Seerep
+#include "seerep-hdf5-core/hdf5-core-general.h"
+
 namespace seerep_hdf5_ros
 {
 class Hdf5Ros
 {
 public:
   Hdf5Ros() = delete;
-  Hdf5Ros(const std::string& path, const std::string& filename);
+  Hdf5Ros(const std::string& path, const std::string& filename, const std::string& projectFrameId,
+          const std::string& projectName);
 
   bool dumpImage(const sensor_msgs::Image& image) const;
   bool dumpHeader(const std_msgs::Header& header, const std::string& datasetPath) const;

diff --git a/seerep-hdf5/seerep-hdf5-ros/package.xml b/seerep-hdf5/seerep-hdf5-ros/package.xml
@@ -14,6 +14,7 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>seerep-hdf5-core</depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 </package>
diff --git a/seerep-hdf5/seerep-hdf5-ros/src/hdf5-ros.cpp b/seerep-hdf5/seerep-hdf5-ros/src/hdf5-ros.cpp
@@ -2,10 +2,16 @@
 
 namespace seerep_hdf5_ros
 {
-Hdf5Ros::Hdf5Ros(const std::string& path, const std::string& filename) : path_{ path }, filename_{ filename }
+Hdf5Ros::Hdf5Ros(const std::string& path, const std::string& filename, const std::string& projectFrameId,
+                 const std::string& projectName)
+  : path_{ path }, filename_{ filename }
 {
+  auto write_mtx = std::make_shared<std::mutex>();
   hdf5File_ =
       std::make_shared<HighFive::File>(path_ + filename_ + ".h5", HighFive::File::ReadWrite | HighFive::File::Create);
+  auto ioGeneral = seerep_hdf5_core::Hdf5CoreGeneral(hdf5File_, write_mtx);
+  ioGeneral.writeProjectFrameId(projectFrameId);
+  ioGeneral.writeProjectname(projectName);
 }
 
 bool Hdf5Ros::dumpImage(const sensor_msgs::Image& image) const