service file done for blackbox

mission/blackbox/blackbox.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+# Determine the directory where the script is located
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+# Source ROS 2 setup
+source /opt/ros/humble/setup.bash
+
+# Export ROS environment variables
+export ROS_DOMAIN_ID=0
+export ROS_LOCALHOST_ONLY=0
+
+# Execute the Python script, using the script's directory to find it
+exec python3 "$SCRIPT_DIR/record_data.py"

mission/blackbox/blackbox_startup copy.service

@@ -0,0 +1,149 @@
+[Unit]
+Description=launch recording of data
+After=network.target
+
+[Service]
+ExecStart= python3 /home/vortex/rose_test_ws/src/vortex-asv/mission/blackbox/record_data.py
+RemainAfterExit=yes
+WorkingDirectory=/home/vortex/rose_test_ws
+StandardOutput=journal+console
+
+
+Environment="HOME=root"
+Environment="ROS_DOMAIN_ID=1"
+Environment="ROS_LOCALHOST_ONLY=1"
+Environment="_colcon_cd_root=/top/ros/rolling/"
+
+User=vortex
+
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target
+
+--------------------------------------------------------------------------------------------
+
+[Unit]
+Description=launch recording of data
+After=network.target
+
+[Service]
+ExecStart=/usr/bin/python3 /home/vortex/rose_test_ws/src/vortex-asv/mission/blackbox/record_data.py
+RemainAfterExit=yes
+WorkingDirectory=/home/vortex/rose_test_ws
+StandardOutput=journal+console
+
+
+Environment="HOME=root"
+Environment="ROS_DOMAIN_ID=1"
+Environment="ROS_LOCALHOST_ONLY=1"
+Environment="_colcon_cd_root=/top/ros/rolling/"
+
+User=vortex
+
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target
+
+---------------------------------------------------------------------------------------------
+
+[Unit]
+Description=launch recording of data
+After=network.target
+
+[Service]
+ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/vortex/david_test_ws/install/setup.bash; python3 record_data.py'
+RemainAfterExit=yes
+WorkingDirectory=/home/vortex/rose_test_ws
+StandardOutput=journal+console
+
+
+Environment="HOME=root"
+Environment="ROS_DOMAIN_ID=1"
+Environment="ROS_LOCALHOST_ONLY=1"
+Environment="_colcon_cd_root=/top/ros/rolling/"
+
+User=vortex
+
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target
+
+---------------------------------------------------------------------------------------------
+
+[Unit]
+Description=launch ros2 bms node
+After=network.target
+
+[Service]
+ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; source /usr/share/colcon_cd/function/colcon_cd.sh colcon build; source /home/vortex/david_test_ws/install/setup.bash; ros2 launch bms bms_launch.py; sleep 60'
+RemainAfterExit=yes
+WorkingDirectory=/home/vortex/david_test_ws
+StandardOutput=journal+console
+
+
+Environment="HOME=root"
+Environment="ROS_DOMAIN_ID=1"
+Environment="ROS_LOCALHOST_ONLY=1"
+Environment="_colcon_cd_root=/top/ros/rolling/"
+
+User=vortex
+
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target
+---------------------------------------------------------------------------------------------
+
+[Unit]
+Description=My Custom Service
+After=network.target
+
+[Service]
+ExecStart=/path/to/your/executable
+Restart=always
+
+[Install]
+WantedBy=default.target
+
+
+
+
+
+
+
+
+
+
+
+-------------------------------------------------------
+
+[Unit]
+Description=launch recording of data
+After=network.target
+
+[Service]
+ExecStart=/bin/bash -c 'source /opt/ros/humble/setup.bash; source /home/vortex/rose_test_ws/install/setup.bash; python3 /home/vortex/rose_test_ws/src/vortex-asv/mission/blackbox/record_data.py'
+RemainAfterExit=yes
+WorkingDirectory=/home/vortex/rose_test_ws
+StandardOutput=journal+console
+
+
+Environment="HOME=root"
+Environment="ROS_DOMAIN_ID=1"
+Environment="ROS_LOCALHOST_ONLY=1"
+Environment="_colcon_cd_root=/top/ros/rolling/"
+
+User=vortex
+
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target

mission/blackbox/blackbox_startup.service

@@ -0,0 +1,15 @@
+[Unit]
+Description=Launch recording of ROS 2 data
+After=network.target
+
+[Service]
+# Use the wrapper script for ExecStart
+ExecStart=/bin/bash <path-to-home-directory>/<your-worskpace-name>/src/vortex-asv/mission/blackbox/blackbox.sh
+WorkingDirectory=/home/vortex/
+StandardOutput=journal+console
+User=vortex
+Restart=no
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target

mission/blackbox/record_data.py

@@ -1,4 +1,3 @@
-import rclpy
 import subprocess
 import time
 import os
@@ -8,8 +7,10 @@
 class ROSMonitor:
     def __init__(self):
         # timestamp variable is a string that represents the current date and time in the format 'YYYY-MM-DD HH:MM:SS'
-        timestamp = time.strftime('%Y-%m-%d_%H:%M:%S')    
-        self.bag_file = 'rosdata_' + timestamp + '.bag'
+        timestamp = time.strftime('%Y-%m-%d_%H:%M:%S')
+        self.bag_directory = '/home/vortex/rose_test_ws/src/vortex-asv/mission/blackbox/'
+        self.bag_name = 'rosdata_' + timestamp + '.bag'
+        self.bag_file = self.bag_directory + self.bag_name
         self.topics = [                                                  #indicate there all the topics you want to record
                     '/joy',                               
                     '/joystick/joy',
@@ -33,16 +34,19 @@ def __init__(self):
                     '/tf',
                     '/tf_static'
                     ]
+
+        #subprocess.run(['source', '/opt/ros/humble/setup.bash'], text=True)  #to source the ros setup files 
 
     def monitor_nodes_and_topics(self):
 
         # Record bag data  -> then to see the data we just recorded we use the command "ros2 bag play <bag_file>"
+        # subprocess.run(['/home/vortex/rose_test_ws/src/vortex-asv/mission/blackbox'])
         subprocess.run(['ros2', 'bag', 'record', '-o', self.bag_file] + self.topics, text=True)
         #the name of the bagfile is the date and hour in the format 'rosdata_YYYY-MM-DD_HH:MM:SS.bag'
 
 
 
-    def delete_old_bags(self, days=1, max_size_kb=300):         #adjust the max size before you start deleting old files (1 000 000 kb = 1 000 mb = 1 gb)
+    def delete_old_bags(self, days=1, max_size_kb=3000000):         #adjust the max size before you start deleting old files (1 000 000 kb = 1 000 mb = 1 gb)
         print('Entering the delete_old_bags function')
         current_time = datetime.now()
         older_than_time = current_time - timedelta(days=days)
@@ -52,7 +56,7 @@ def delete_old_bags(self, days=1, max_size_kb=300):         #adjust the max size
 
 
         # List all directories in the current directory
-        directories_in_current_directory = [d for d in os.listdir('.') if os.path.isdir(d)]
+        directories_in_current_directory = [d for d in os.listdir(self.bag_directory) if os.path.isdir(os.path.join(self.bag_directory, d))]
         print('List of directories in the current directory:')
         print(directories_in_current_directory)
 
@@ -70,7 +74,7 @@ def delete_old_bags(self, days=1, max_size_kb=300):         #adjust the max size
                     continue
 
                 if directory_time < older_than_time:
-                    directory_path = os.path.join('.', directory_name)
+                    directory_path = os.path.join(self.bag_directory, directory_name)
                     shutil.rmtree(directory_path)
                     print(f"Deleted old directory: {directory_path}")
 
@@ -83,7 +87,7 @@ def delete_old_bags(self, days=1, max_size_kb=300):         #adjust the max size
 
 
         # Update the list of directories after deleting old directories
-        directories_in_current_directory = [d for d in os.listdir('.') if os.path.isdir(d)]
+        directories_in_current_directory = [d for d in os.listdir(self.bag_directory) if os.path.isdir(os.path.join(self.bag_directory, d))]
 
         # Calculate total size of remaining directories ON
         total_size_kb = sum(self.get_directory_size(d) for d in directories_in_current_directory if (d.startswith('rosdata_') and d.endswith('.bag')) ) / 1024
@@ -102,18 +106,18 @@ def delete_old_bags(self, days=1, max_size_kb=300):         #adjust the max size
                 break
 
             oldest_directory = sorted_directories[0]
-            oldest_directory_path = os.path.join('.', oldest_directory)
+            oldest_directory_path = os.path.join(self.bag_directory, oldest_directory)
 
             print(f"Deleting the oldest directory: {oldest_directory_path}")
             shutil.rmtree(oldest_directory_path)
 
             # Update the list of directories and total size
-            directories_in_current_directory = [d for d in os.listdir('.') if os.path.isdir(d)]
+            directories_in_current_directory = [d for d in os.listdir(self.bag_directory) if os.path.isdir(os.path.join(self.bag_directory, d))]
             total_size_kb = sum(self.get_directory_size(d) for d in directories_in_current_directory if (d.startswith('rosdata_') and d.endswith('.bag')) ) / 1024
             print(f'Now the total size of directories is: {total_size_kb:.2f} KB')
 
     def get_directory_size(self, directory):
-        directory_path = os.path.join('.', directory)
+        directory_path = os.path.join(self.bag_directory, directory)
         total_size = sum(os.path.getsize(os.path.join(directory_path, file)) for file in os.listdir(directory_path) if os.path.isfile(os.path.join(directory_path, file)))
         return total_size