Feature/better saving (#24)

* manually save in hydra node

* update to latest hydra changes

* drop unused file

Author: nathanhhughes

hydra_ros/app/hydra_node.cpp

@@ -35,6 +35,7 @@
 #include <config_utilities/config_utilities.h>
 #include <config_utilities/external_registry.h>
 #include <config_utilities/formatting/asl.h>
+#include <config_utilities/types/path.h>
 #include <config_utilities/logging/log_to_glog.h>
 #include <config_utilities/parsing/context.h>
 #include <hydra/common/global_info.h>
@@ -60,6 +61,8 @@ struct RunSettings {
   bool forward_glog_to_ros = true;
   int glog_level = 0;
   int glog_verbosity = 0;
+  std::filesystem::path log_path;
+  hydra::DataDirectory::Config output;
 };
 
 void declare_config(RunSettings& config) {
@@ -79,6 +82,8 @@ void declare_config(RunSettings& config) {
   field(config.forward_glog_to_ros, "forward_glog_to_ros");
   field(config.glog_level, "glog_level");
   field(config.glog_verbosity, "glog_verbosity");
+  field<Path::Absolute>(config.log_path, "log_path");
+  field(config.output, "output");
 }
 
 struct RosSink : google::LogSink {
@@ -158,9 +163,9 @@ int main(int argc, char* argv[]) {
     hydra.start();
     ianvs::spinAndWait(nh, settings.exit_after_clock);
     hydra.stop();
-    hydra.save();
-    // TODO(nathan) save full config
-    hydra::GlobalInfo::exit();
+
+    const hydra::DataDirectory output(settings.log_path, settings.output);
+    hydra.save(output);
   }  // end hydra scope
 
   if (ros_sink) {

hydra_ros/include/hydra_ros/input/feature_receiver.h

@@ -60,7 +60,6 @@ class FeatureReceiver : public Module {
   virtual ~FeatureReceiver();
   void start() override;
   void stop() override;
-  void save(const LogSetup& setup) override;
   std::string printInfo() const override;
 
  private:

hydra_ros/scripts/copy_static_tfs.py

@@ -85,13 +85,12 @@ HydraRosPipeline::~HydraRosPipeline() {}
 
 void HydraRosPipeline::init() {
   const auto& pipeline_config = GlobalInfo::instance().getConfig();
-  const auto logs = GlobalInfo::instance().getLogs();
 
   auto nh = getHydraNodeHandle("~");
-  backend_ = config.backend.create(backend_dsg_, shared_state_, logs);
+  backend_ = config.backend.create(backend_dsg_, shared_state_);
   modules_["backend"] = CHECK_NOTNULL(backend_);
 
-  frontend_ = config.frontend.create(frontend_dsg_, shared_state_, logs);
+  frontend_ = config.frontend.create(frontend_dsg_, shared_state_);
   modules_["frontend"] = CHECK_NOTNULL(frontend_);
 
   active_window_ = config.active_window.create(frontend_->queue());

hydra_ros/src/hydra_ros_pipeline.cpp

@@ -133,8 +133,6 @@ FeatureReceiver::~FeatureReceiver() {}
 
 void FeatureReceiver::stop() {}
 
-void FeatureReceiver::save(const LogSetup&) {}
-
 std::string FeatureReceiver::printInfo() const { return config::toString(config); }
 
 }  // namespace hydra