Remove old service and add StorageOptions python integration

Signed-off-by: Cameron Miller <[email protected]>

docs/design/rosbag2_snapshot_mode.md

@@ -18,7 +18,7 @@ $ ros2 bag record --max-cache-size 100000 --snapshot-mode [topics [topics ...]]
 
 Triggering a snapshot via CLI:
 ```
-$ ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/TakeSnapshot
+$ ros2 service call /rosbag2_recorder/snapshot rosbag2_interfaces/Snapshot
 ```
 
 Triggering a snapshot with a keyboard shortcut:
@@ -39,14 +39,14 @@ Triggering a snapshot with a keyboard shortcut:
 
 * Modify `BaseWriterInterface` to include a pure virutal function `take_snapshot` to ensure that all future writers are compatible with snapshot mode.
 
-* Implement the `~/snapshot` service interface as `TakeSnapshot.srv` in `rosbag2_interfaces`. It won’t require any arguments (similar to `Resume.srv`).
+* Implement the `~/snapshot` service interface as `Snapshot.srv` in `rosbag2_interfaces`. It won’t require any arguments (similar to `Resume.srv`).
 
 
 ## Implementation Breakdown
 The snapshot feature implementation could be broken down into the following PRs:
 
 * Implement `CircularMessageCache` and `MessageCacheCircularBuffer`. Then add corresponding tests.
 * Integrate `CircularMessageCache` into `SequentialWriter` and update its tests.
-* Create the `~/snapshot` service in the `Recorder` class, add corresponding tests, and create the `TakeSnapshot.srv` service interface.
+* Create the `~/snapshot` service in the `Recorder` class, add corresponding tests, and create the `Snapshot.srv` service interface.
 * Add `--snapshot-mode` to the `record` verb and update `StorageOptions`
 * Add keyboard shortcut for triggering a snapshot in snapshot mode

rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp

@@ -127,8 +127,6 @@ class ROSBAG2_CPP_PUBLIC SequentialWriter
   std::shared_ptr<rosbag2_cpp::cache::MessageCacheInterface> message_cache_;
   std::unique_ptr<rosbag2_cpp::cache::CacheConsumer> cache_consumer_;
 
-  std::shared_ptr<rosbag2_cpp::cache::CircularMessageCache> circular_message_cache_;
-
   void switch_to_next_storage();
 
   std::string format_storage_uri(

rosbag2_py/src/rosbag2_py/_storage.cpp

@@ -43,14 +43,15 @@ PYBIND11_MODULE(_storage, m) {
   pybind11::class_<rosbag2_storage::StorageOptions>(m, "StorageOptions")
   .def(
     pybind11::init<
-      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string>(),
+      std::string, std::string, uint64_t, uint64_t, uint64_t, std::string, std::string, bool>(),
     pybind11::arg("uri"),
     pybind11::arg("storage_id"),
     pybind11::arg("max_bagfile_size") = 0,
     pybind11::arg("max_bagfile_duration") = 0,
     pybind11::arg("max_cache_size") = 0,
     pybind11::arg("storage_preset_profile") = "",
-    pybind11::arg("storage_config_uri") = "")
+    pybind11::arg("storage_config_uri") = "",
+    pybind11::arg("snapshot_mode") = false)
   .def_readwrite("uri", &rosbag2_storage::StorageOptions::uri)
   .def_readwrite("storage_id", &rosbag2_storage::StorageOptions::storage_id)
   .def_readwrite(
@@ -67,7 +68,10 @@ PYBIND11_MODULE(_storage, m) {
     &rosbag2_storage::StorageOptions::storage_preset_profile)
   .def_readwrite(
     "storage_config_uri",
-    &rosbag2_storage::StorageOptions::storage_config_uri);
+    &rosbag2_storage::StorageOptions::storage_config_uri)
+  .def_readwrite(
+    "snapshot_mode",
+    &rosbag2_storage::StorageOptions::snapshot_mode);
 
   pybind11::class_<rosbag2_storage::StorageFilter>(m, "StorageFilter")
   .def(

rosbag2_transport/src/rosbag2_transport/recorder.cpp

@@ -72,15 +72,6 @@ Recorder::Recorder(
   record_options_(record_options),
   stop_discovery_(record_options_.is_discovery_disabled)
 {
-  srv_snapshot_ = create_service<rosbag2_interfaces::srv::Snapshot>(
-  "~/snapshot",
-  [this](
-    const std::shared_ptr<rmw_request_id_t>/* request_header */,
-    const std::shared_ptr<rosbag2_interfaces::srv::Snapshot::Request>/* request */,
-    const std::shared_ptr<rosbag2_interfaces::srv::Snapshot::Response>/* response */)
-  {
-    writer_->take_snapshot();
-  });
 }
 
 Recorder::~Recorder()