odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode RecorderModule::body() {
// Check if the recorder is remotely controlled.
bool remoteControl = (getKeyValueConfiguration().getValue<bool>("odrecorder.remoteControl") != 0);
// URL for storing containers.
string recorderOutputURL;
try {
recorderOutputURL = getKeyValueConfiguration().getValue<string>("odrecorder.output");
}
catch(...) {
// If omitted, generate a CID/Name/TimeStamp-based one.
stringstream recordingURL;
TimeStamp startOfRecording;
recordingURL << "file://" << "CID-" << getCID() << "-" << getName() << "_" << startOfRecording.getYYYYMMDD_HHMMSS_noBlankNoColons() << ".rec";
recorderOutputURL = recordingURL.str();
}
// Size of memory segments.
const uint32_t MEMORY_SEGMENT_SIZE = getKeyValueConfiguration().getValue<uint32_t>("global.buffer.memorySegmentSize");
// Number of memory segments.
const uint32_t NUMBER_OF_SEGMENTS = getKeyValueConfiguration().getValue<uint32_t>("global.buffer.numberOfMemorySegments");
// Run recorder in asynchronous mode to allow real-time recording in background.
const bool THREADING = true;
// Dump shared images and shared data?
const bool DUMP_SHARED_DATA = getKeyValueConfiguration().getValue<uint32_t>("odrecorder.dumpshareddata") == 1;
// Actual "recording" interface.
Recorder r(recorderOutputURL, MEMORY_SEGMENT_SIZE, NUMBER_OF_SEGMENTS, THREADING, DUMP_SHARED_DATA);
// Connect recorder's FIFOQueue to record all containers except for shared images/shared data.
addDataStoreFor(r.getFIFO());
// Connect recorder's data store that can handle shared data.
addDataStoreFor(odcore::data::SharedData::ID(), r.getDataStoreForSharedData());
addDataStoreFor(odcore::data::image::SharedImage::ID(), r.getDataStoreForSharedData());
addDataStoreFor(odcore::data::SharedPointCloud::ID(), r.getDataStoreForSharedData());
// Get key/value-datastore for controlling the odrecorder.
KeyValueDataStore &kvds = getKeyValueDataStore();
// If remote control is disabled, simply start recording immediately.
bool recording = (!remoteControl);
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {
// Recording queued entries.
if (recording) {
if (!r.getFIFO().isEmpty()) {
r.recordQueueEntries();
}
else {
Thread::usleepFor(500);
}
}
// Check for remote control.
if (remoteControl) {
Container container = kvds.get(odcore::data::recorder::RecorderCommand::ID());
if (container.getDataType() == odcore::data::recorder::RecorderCommand::ID()) {
odcore::data::recorder::RecorderCommand rc;
rc = container.getData<odcore::data::recorder::RecorderCommand>();
recording = (rc.getCommand() == odcore::data::recorder::RecorderCommand::RECORD);
}
// Discard existing entries.
if (!recording) {
r.getFIFO().clear();
}
}
}
return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}
