Robotics Service Bus » RSBag

Pass all input files to bag->events in src/commands/*.lisp

refs #817

• src/commands/introspect.lisp (command-execute): pass all input files
  to `bag->events' instead of just the first
• src/commands/cat.lisp (command-execute cat): likewise
• src/commands/play.lisp (command-execute): likewise

Added composite-connection-mixin in src/rsb/**/*.lisp

refs #817

• src/rsb/protocol.lisp (connection-direct-connections): new generic
  function; return a list of child connections
  (connection-connections): new generic function; return certain
  ancestor connections
  (connection-direct-connections t): new method; default behavior
  consists in not returning any children
  (connection-connections t): new method; default behavior consists in
  traversing and collecting children according to keyword arguments
• src/rsb/bag-connection.lisp (composite-connection-mixin): new class;
  mixin for connections with child connections
  (shared-initialize :after composite-connection-mixin t): changed
  specializer bag-connection -> composite-connection-mixin
  (setf processor-error-policy :before t composite-connection-mixin):
  likewise
  (close composite-connection-mixin): likewise
  (wait composite-connection-mixin): likewise
  (start composite-connection-mixin): likewise
  (stop composite-connection-mixin): likewise
  (print-items append composite-connection-mixin): likewise
  (bag-connection): added superclass `composite-connection-mixin'
  (bag-connection::channels): removed slot; provided by
  `composite-connection-mixin'
  (start :after recording-bag-connection): use
  `connection-connections' instead of `connection-channels'
• src/rsb/package.lisp (package rsbag.rsb): added exported symbols
  connection-direct-connections and connection-connections
• src/rsb/recording/channel-connections.lisp
  (process-event recording-bag-connection timestamp t): use
  `connection-connections' instead of `connection-channels'
  (print-items recording-channel-connection): adapted to renamed print
  items
• src/rsb/recording/construction.lisp (events->bag sequence bag):
  adapted to changed initargs
  (events->bag null bag): likewise
• src/rsb/replay/util.lisp (inject-informer): use
  `connection-connections' instead of `connection-channels'
• src/rsb/replay/strategy-mixins.lisp
  (make-view t view-creation-mixin): changed specializer
  replay-bag-connection -> t; use `connection-connections' instead of
  `connection-channels'
• src/rsb/replay/construction.lisp (bag->events bag t): adapted to
  changed initargs

Moved replay connection code src/rsb{ -> /replay}/*.lisp

refs #817

• src/rsb/bag-connection.lisp (replay-bag-connection): removed; moved
  to src/rsb/replay/bag-connections.lisp
  (setf processor-error-policy :before replay-bag-connection):
  likewise
• src/rsb/construction.lisp (bag->events sequence t): removed; moved
  to src/rsb/replay/construction.lisp
• src/rsb/package.lisp (package rsbag.rsb): removed exported symbols
  connection-strategy and replay-bag-connection
• src/rsb/replay/bag-connections.lisp: new file; contains
  replay-specific connection classes; in particular
  `replay-connection-mixin' has been split off from
  `replay-bag-connection'
• src/rsb/replay/construction.lisp (bag->events sequence t): new
  method; moved here from src/rsb/construction.lisp
• src/rsb/replay/package.lisp (package rsbag.rsb.replay): added
  exported symbols connection-strategy and replay-bag-connection
• cl-rsbag.asd (system cl-rsbag): added file
  src/rsb/replay/bag-connections.lisp

Support trees of connections in src/rsb/replay/*.lisp

refs #817

• src/rsb/replay/bag-connections.lisp (replay-multi-bag-connection):
  new connection class; for replaying multiple bags
• src/rsb/replay/construction.lisp (bag->events sequence t): for
  multiple bags, instead of signaling an error, construct a
  `replay-multi-bag-connection'
  (bag->events bag t): accept connection-class keyword argument
• test/rsb/protocol.lisp (test bag->events-root::smoke): added cases
  with multiple source bags

Support multiple input files in bag-{cat,play,introspect}/main.lisp

fixes #817

• bag-cat/main.lisp (make-help-string): indicate possibility of
  multiple input files
  (update-synopsis): likewise
• bag-play/help.lisp (header): updated copyright
  (make-help-string): indicate possibility of multiple input files
• bag-play/main.lisp (update-synopsis): likewise
  (parse-inputs-and-uri): new function; split remainder of commandline
  options into input files and target URI
  (main): allow more than two "remainder" commandline arguments; use
  `parse-inputs-and-uri'; pass all input files to the constructed
  command
• bag-introspect/main.lisp (header): updated copyright
  (make-help-string): indicate that multiple input files are allowed
  (update-synopsis): likewise
• CMakeLists.txt: added test for running cat, play and introspect with
  multiple input files