allow for unlimited recording

Author: henrygerardmoore

data_tamer_cpp/include/data_tamer/sinks/mcap_sink.hpp

@@ -25,7 +25,7 @@ class MCAPSink : public DataSinkBase
    * @brief MCAPSink.
    * IMPORTANT: if you want the recorder to be more robust to crash/segfault,
    * set `do_compression` to false.
-   * Compression is dafe if your application is closing cleanly.
+   * Compression is safe if your application is closing cleanly.
    *
    * @param filepath   path of the file to be saved. Should have extension ".mcap"
    * @param do_compression if true, compress the data on the fly.
@@ -40,6 +40,8 @@ class MCAPSink : public DataSinkBase
 
   /// After a certain amount of time, the MCAP file will be reset
   /// and overwritten. Default value is 600 seconds (10 minutes)
+  /// To disable this feature, use a time of 0 seconds.
+  /// WARNING: this can consume a large amount of disk space very quickly.
   void setMaxTimeBeforeReset(std::chrono::seconds reset_time);
 
   /// Stop recording and save the file
@@ -67,6 +69,7 @@ class MCAPSink : public DataSinkBase
   std::chrono::system_clock::time_point start_time_;
 
   bool forced_stop_recording_ = false;
+  bool unlimited_recording_ = false;
   std::recursive_mutex mutex_;
 
   void openFile(std::string const& filepath);

data_tamer_cpp/src/sinks/mcap_sink.cpp

@@ -1,6 +1,7 @@
 #include "data_tamer/sinks/mcap_sink.hpp"
 #include "data_tamer/contrib/SerializeMe.hpp"
 
+#include <chrono>
 #include <sstream>
 #include <mutex>
 
@@ -118,7 +119,7 @@ bool MCAPSink::storeSnapshot(const Snapshot& snapshot)
   // If reset_time_ is exceeded, we want to overwrite the current file.
   // Better than filling the disk, if you forgot to stop the application.
   auto const now = std::chrono::system_clock::now();
-  if(now - start_time_ > reset_time_)
+  if(reset_time_ != std::chrono::seconds(0) && now - start_time_ > reset_time_)
   {
     restartRecording(filepath_, compression_);
   }