#!/usr/bin/env python
import rospy
from std_msgs.msg import String
import rospkg
import subprocess
import os
import signal

class Bagger(object):

    def __init__(self):
        rospy.init_node("bagger", anonymous=True)
        rospy.Subscriber("bag_publisher", String, self.callback)
        self.pub = rospy.Publisher("bag_notifier", String, queue_size=10)
        self.proc = None
        rospack = rospkg.RosPack()
        self.data_path = os.path.join(rospack.get_path("rosbridge_GUI_example"), "data")

    def callback(self, msg):
        if msg.data == "STOP" and self.proc is not None:
            os.killpg(self.proc.pid, signal.SIGINT)
            self.pub.publish("STOPPED")
        else:
            bag_file = os.path.join(self.data_path, msg.data)
            self.proc = subprocess.Popen(["rosbag", "record",
                "--all", "-o", bag_file], preexec_fn=os.setsid)
            self.pub.publish("STARTED")
        

if __name__ == '__main__':
    Bagger()
    rospy.spin()