merge start and stop button into single one

src/ros2_topic_monitor/ros2_topic_monitor/record.py

@@ -1,14 +1,13 @@
-import sys
-import subprocess
-import threading
 import os
-import yaml
-import rclpy
-from rclpy.node import Node
 import tkinter as tk
 from tkinter import messagebox
 from datetime import datetime
-from rclpy import Parameter 
+import threading
+import subprocess
+import yaml
+import rclpy
+from rclpy.node import Node
+from rclpy import Parameter
 from std_msgs.msg import Empty
 from ament_index_python.packages import get_package_share_directory
 
@@ -17,18 +16,18 @@ def __init__(self):
         super().__init__('bag_recorder_node')
 
         # Params
-        self.declare_parameter( 'cfg_pth' , Parameter.Type.STRING )
+        self.declare_parameter('cfg_pth', Parameter.Type.STRING)
         self.cfg_pth = self.get_parameter_or('cfg_pth', Parameter('str', Parameter.Type.STRING, '')).value
         package_share_directory = get_package_share_directory('ros2_topic_monitor')
-        cfg_pth_default = os.path.join(package_share_directory,'config', 'cfg_topics_record.yaml')
+        cfg_pth_default = os.path.join(package_share_directory, 'config', 'cfg_topics_record.yaml')
         self.cfg_pth = self.cfg_pth or cfg_pth_default
 
         with open(self.cfg_pth, 'r') as file:
             config = yaml.safe_load(file)
-        
+
         self.topics = []
         for category in config['topics'].values():
-            self.topics.extend(category) 
+            self.topics.extend(category)
 
         self.bag_process = None
 
@@ -41,7 +40,6 @@ def publish_message(self):
         if self.recording_flag:
             msg = Empty()
             self.publisher_.publish(msg)
-            self.get_logger().info('Publishing: "rosbag_recording" with Empty message')
 
     def start_recording(self, output_path):
         self.recording_flag = True
@@ -63,53 +61,90 @@ def stop_recording(self):
 class BagRecorderGUI:
     def __init__(self, recorder_node):
         self.recorder_node = recorder_node
+        self.recording_in_progress = False
+
         self.root = tk.Tk()
         self.root.title('ROS2 Bag Recorder')
 
-        self.dir = tk.Label(self.root, text="Enter Bag dir:")
-        self.dir.pack(pady=5)
+        self.dir_label = tk.Label(self.root, text="Enter Bag Directory:")
+        self.dir_label.pack(pady=5)
 
         self.bag_dir_entry = tk.Entry(self.root)
         self.bag_dir_entry.pack(pady=5)
 
-        self.label = tk.Label(self.root, text="Enter Bag Name:")
-        self.label.pack(pady=5)
+        self.name_label = tk.Label(self.root, text="Enter Bag Name:")
+        self.name_label.pack(pady=5)
 
         self.bag_name_entry = tk.Entry(self.root)
         self.bag_name_entry.pack(pady=5)
 
-        self.start_button = tk.Button(self.root, text='Start Recording', command=self.start_recording)
-        self.start_button.pack(pady=10)
-
-        self.stop_button = tk.Button(self.root, text='Stop Recording', command=self.stop_recording)
-        self.stop_button.pack(pady=10)
+        self.toggle_button = tk.Button(self.root, text='Start Recording', command=self.toggle_recording)
+        self.toggle_button.pack(pady=10)
 
         self.end_session_button = tk.Button(self.root, text='End Session', command=self.end_session)
         self.end_session_button.pack(pady=10)
 
+        # Status frame to manage background color
+        self.status_frame = tk.Frame(self.root, width=300, height=10)
+        self.status_frame.pack(pady=10, fill=tk.X)
+        self.update_status_color()
+
+    def toggle_recording(self):
+        if self.recording_in_progress:
+            self.stop_recording()
+        else:
+            self.start_recording()
+
     def start_recording(self):
-        bag_dir = self.bag_dir_entry.get()
-        bag_name = self.bag_name_entry.get()
+        bag_dir = self.bag_dir_entry.get().strip()
+        bag_name = self.bag_name_entry.get().strip()
         if not bag_name:
             bag_name = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+
+        if not os.path.isdir(bag_dir):
+            try:
+                os.makedirs(bag_dir)
+            except OSError as e:
+                messagebox.showerror("Error", f"Failed to create directory '{bag_dir}': {e}")
+                return
+
         output_path = os.path.join(bag_dir, bag_name)
-        
+
         if os.path.exists(output_path):
             proceed = messagebox.askyesno("Warning", f"The bag name '{bag_name}' already exists. Do you want to overwrite it?")
             if not proceed:
                 return
 
-        self.recorder_node.start_recording(output_path)
-        messagebox.showinfo("Info", f"Started recording ROS2 bag to {output_path}.")
+        try:
+            self.recorder_node.start_recording(output_path)
+            self.recording_in_progress = True
+            self.update_status_color()
+            self.toggle_button.config(text='Stop Recording')
+            messagebox.showinfo("Info", f"Started recording ROS2 bag to {output_path}.")
+        except Exception as e:
+            messagebox.showerror("Error", f"Failed to start recording: {e}")
 
     def stop_recording(self):
-        self.recorder_node.stop_recording()
-        messagebox.showinfo("Info", "Stopped recording ROS2 bag.")
+        try:
+            self.recorder_node.stop_recording()
+            self.recording_in_progress = False
+            self.update_status_color()
+            self.toggle_button.config(text='Start Recording')
+            messagebox.showinfo("Info", "Stopped recording ROS2 bag.")
+        except Exception as e:
+            messagebox.showerror("Error", f"Failed to stop recording: {e}")
 
     def end_session(self):
-        self.stop_recording()
+        if self.recording_in_progress:
+            self.stop_recording()
         self.root.quit()
 
+    def update_status_color(self):
+        if self.recording_in_progress:
+            self.status_frame.config(bg='green')
+        else:
+            self.status_frame.config(bg='red')
+
     def run(self):
         self.root.mainloop()