From a47b669bd652afa008baac5dc29d22535621d642 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Fri, 31 Oct 2025 09:27:30 +0000
Subject: [PATCH 01/14] Retention management services

---
 CMakeLists.txt            |  2 ++
 srv/StartBagRetention.srv | 13 +++++++++++++
 srv/StopBagRetention.srv  |  9 +++++++++
 3 files changed, 24 insertions(+)
 create mode 100644 srv/StartBagRetention.srv
 create mode 100644 srv/StopBagRetention.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 47596be..dd67b8b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ListBagRecordings.srv"
   "srv/DeleteMap.srv"
   "srv/ListMaps.srv"
+  "srv/StartBagRetention.srv"
+  "srv/StopBagRetention.srv"
   "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
diff --git a/srv/StartBagRetention.srv b/srv/StartBagRetention.srv
new file mode 100644
index 0000000..37221a6
--- /dev/null
+++ b/srv/StartBagRetention.srv
@@ -0,0 +1,13 @@
+## Request
+
+# Session suffix (optional, recommended)
+string session_suffix
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error
diff --git a/srv/StopBagRetention.srv b/srv/StopBagRetention.srv
new file mode 100644
index 0000000..49b7aef
--- /dev/null
+++ b/srv/StopBagRetention.srv
@@ -0,0 +1,9 @@
+## Request
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error

From 73d39155677f47815aa388b95f61bbc382c5a560 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Wed, 5 Nov 2025 06:14:14 +0000
Subject: [PATCH 02/14] List continuous recordings service

---
 CMakeLists.txt                   |  1 +
 srv/ListContinuousRecordings.srv | 15 +++++++++++++++
 2 files changed, 16 insertions(+)
 create mode 100644 srv/ListContinuousRecordings.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd67b8b..dc96f85 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -65,6 +65,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ListMaps.srv"
   "srv/StartBagRetention.srv"
   "srv/StopBagRetention.srv"
+  "srv/ListContinuousRecordings.srv"
   "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
diff --git a/srv/ListContinuousRecordings.srv b/srv/ListContinuousRecordings.srv
new file mode 100644
index 0000000..1fd0463
--- /dev/null
+++ b/srv/ListContinuousRecordings.srv
@@ -0,0 +1,15 @@
+## Request
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Bag recordings from each category
+BagRecording[] active_recordings
+BagRecording[] buffer_recordings
+BagRecording[] keep_sessions
+
+# Error messages
+string error

From f2542a04ef9378fe83c6c968fb5033a53149fe53 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 6 Nov 2025 17:40:04 +0000
Subject: [PATCH 03/14] Delete recording interface

---
 CMakeLists.txt                    |  1 +
 srv/DeleteContinuousRecording.srv | 24 ++++++++++++++++++++++++
 2 files changed, 25 insertions(+)
 create mode 100644 srv/DeleteContinuousRecording.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dc96f85..9083c44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,6 +66,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/StartBagRetention.srv"
   "srv/StopBagRetention.srv"
   "srv/ListContinuousRecordings.srv"
+  "srv/DeleteContinuousRecording.srv"
   "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
diff --git a/srv/DeleteContinuousRecording.srv b/srv/DeleteContinuousRecording.srv
new file mode 100644
index 0000000..08eb38b
--- /dev/null
+++ b/srv/DeleteContinuousRecording.srv
@@ -0,0 +1,24 @@
+## Request
+
+# Recording Types (enum)
+#
+# BUFFER_FILE: Delete a recording from the buffer dir
+# KEEP_SESSION: Delete a session from keep dir
+uint8 BUFFER_FILE=0
+uint8 KEEP_SESSION=1
+
+
+# Type of request (see options above)
+uint8 delete_request_type
+
+# File/session name
+string name
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error

From 42117165834749a82bf45187b0bf68fefa41b98e Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 6 Nov 2025 22:07:25 +0000
Subject: [PATCH 04/14] datetime and retain recording interfaces

---
 CMakeLists.txt          |  2 ++
 msg/DateTime.msg        |  9 +++++++++
 srv/RetainRecording.srv | 19 +++++++++++++++++++
 3 files changed, 30 insertions(+)
 create mode 100644 msg/DateTime.msg
 create mode 100644 srv/RetainRecording.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9083c44..b71dc0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpRequest.msg"
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
+  "msg/DateTime.msg"
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
   "srv/ModifyRouteEdge.srv"
@@ -67,6 +68,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/StopBagRetention.srv"
   "srv/ListContinuousRecordings.srv"
   "srv/DeleteContinuousRecording.srv"
+  "srv/RetainRecording.srv"
   "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
diff --git a/msg/DateTime.msg b/msg/DateTime.msg
new file mode 100644
index 0000000..4e92a3e
--- /dev/null
+++ b/msg/DateTime.msg
@@ -0,0 +1,9 @@
+# Date
+uint16 year
+uint8 month
+uint8 day
+
+# Time (UTC)
+uint8 hour
+uint8 minute
+uint8 second
diff --git a/srv/RetainRecording.srv b/srv/RetainRecording.srv
new file mode 100644
index 0000000..e4819af
--- /dev/null
+++ b/srv/RetainRecording.srv
@@ -0,0 +1,19 @@
+## Request
+
+# Start time for retention
+polymath_msgs/DateTime start_time
+
+# End time for retention
+polymath_msgs/DateTime end_time
+
+# Session suffix (optional, recommended)
+string session_suffix
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error

From 0a6031c37a70994df72f9932d32627f70578eebe Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 6 Nov 2025 23:36:27 +0000
Subject: [PATCH 05/14] Status message

---
 CMakeLists.txt                    | 1 +
 msg/ContinuousRecordingStatus.msg | 7 +++++++
 2 files changed, 8 insertions(+)
 create mode 100644 msg/ContinuousRecordingStatus.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b71dc0d..1ae0dfe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
   "msg/DateTime.msg"
+  "msg/ContinuousRecordingStatus.msg"
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
   "srv/ModifyRouteEdge.srv"
diff --git a/msg/ContinuousRecordingStatus.msg b/msg/ContinuousRecordingStatus.msg
new file mode 100644
index 0000000..a43f0e8
--- /dev/null
+++ b/msg/ContinuousRecordingStatus.msg
@@ -0,0 +1,7 @@
+# Status information about continuous recording & storage management
+
+string recording_status
+bool storage_available
+uint64 bags_dir_size_bytes  # Size of the bags directory in bytes
+uint64 available_disk_space_bytes  # Available disk space in bytes
+polymath_msgs/DateTime last_sweep  # Time of the last storage sweep

From 28f0770b6d3ca25d070d713a23c54553619fca3b Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 20 Nov 2025 08:54:47 +0000
Subject: [PATCH 06/14] Storage status

---
 CMakeLists.txt        | 1 +
 msg/StorageStatus.msg | 4 ++++
 2 files changed, 5 insertions(+)
 create mode 100644 msg/StorageStatus.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b71dc0d..29dfe03 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
   "msg/DateTime.msg"
+  "msg/StorageStatus.msg"
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
   "srv/ModifyRouteEdge.srv"
diff --git a/msg/StorageStatus.msg b/msg/StorageStatus.msg
new file mode 100644
index 0000000..798a343
--- /dev/null
+++ b/msg/StorageStatus.msg
@@ -0,0 +1,4 @@
+bool is_storage_available
+uint64 bags_dir_size_bytes
+uint64 available_disk_space_bytes
+builtin_interfaces/Time last_sweep_time

From a0934b0fa128f41049e1a5ee6b936a1a16fd617a Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 20 Nov 2025 10:09:30 +0000
Subject: [PATCH 07/14] Removed stop retention srv

---
 CMakeLists.txt           | 1 -
 srv/StopBagRetention.srv | 9 ---------
 2 files changed, 10 deletions(-)
 delete mode 100644 srv/StopBagRetention.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 29dfe03..c8988ad 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,7 +66,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/DeleteMap.srv"
   "srv/ListMaps.srv"
   "srv/StartBagRetention.srv"
-  "srv/StopBagRetention.srv"
   "srv/ListContinuousRecordings.srv"
   "srv/DeleteContinuousRecording.srv"
   "srv/RetainRecording.srv"
diff --git a/srv/StopBagRetention.srv b/srv/StopBagRetention.srv
deleted file mode 100644
index 49b7aef..0000000
--- a/srv/StopBagRetention.srv
+++ /dev/null
@@ -1,9 +0,0 @@
-## Request
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error

From ca6d9caca1e0e6a2d23a0cdb51b9f2b57ea1e28b Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 20 Nov 2025 11:07:16 +0000
Subject: [PATCH 08/14] Changed to builtin time

---
 srv/RetainRecording.srv | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/srv/RetainRecording.srv b/srv/RetainRecording.srv
index e4819af..521cceb 100644
--- a/srv/RetainRecording.srv
+++ b/srv/RetainRecording.srv
@@ -1,10 +1,10 @@
 ## Request
 
 # Start time for retention
-polymath_msgs/DateTime start_time
+builtin_interfaces/Time start_time
 
 # End time for retention
-polymath_msgs/DateTime end_time
+builtin_interfaces/Time end_time
 
 # Session suffix (optional, recommended)
 string session_suffix

From 2588b23e27702c403c4b58495d5f6d5fd7dbe38f Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Thu, 20 Nov 2025 18:38:32 +0000
Subject: [PATCH 09/14] Removed custom date time

---
 CMakeLists.txt   | 1 -
 msg/DateTime.msg | 9 ---------
 2 files changed, 10 deletions(-)
 delete mode 100644 msg/DateTime.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8988ad..2414e72 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpRequest.msg"
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
-  "msg/DateTime.msg"
   "msg/StorageStatus.msg"
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
diff --git a/msg/DateTime.msg b/msg/DateTime.msg
deleted file mode 100644
index 4e92a3e..0000000
--- a/msg/DateTime.msg
+++ /dev/null
@@ -1,9 +0,0 @@
-# Date
-uint16 year
-uint8 month
-uint8 day
-
-# Time (UTC)
-uint8 hour
-uint8 minute
-uint8 second

From 9a657ec11679388caaa7b07577a8880cb1a57dc5 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Tue, 2 Dec 2025 05:52:19 +0000
Subject: [PATCH 10/14] status to summary

---
 CMakeLists.txt                                | 2 +-
 msg/{StorageStatus.msg => StorageSummary.msg} | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename msg/{StorageStatus.msg => StorageSummary.msg} (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2414e72..5e0e565 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpRequest.msg"
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
-  "msg/StorageStatus.msg"
+  "msg/StorageSummary.msg"
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
   "srv/ModifyRouteEdge.srv"
diff --git a/msg/StorageStatus.msg b/msg/StorageSummary.msg
similarity index 100%
rename from msg/StorageStatus.msg
rename to msg/StorageSummary.msg

From 1f8c0f19f4f91bb9e46782d97090a84b81c4c804 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Tue, 2 Dec 2025 23:16:11 +0000
Subject: [PATCH 11/14] Renamed storage services

---
 CMakeLists.txt                                |  8 +++----
 srv/DeleteContinuousRecording.srv             | 24 -------------------
 srv/ListContinuousRecordings.srv              | 15 ------------
 srv/StorageRemoveSession.srv                  | 13 ++++++++++
 ...inRecording.srv => StorageSaveSession.srv} |  0
 ...gRetention.srv => StorageStartSession.srv} |  0
 srv/StorageStopSession.srv                    | 10 ++++++++
 7 files changed, 27 insertions(+), 43 deletions(-)
 delete mode 100644 srv/DeleteContinuousRecording.srv
 delete mode 100644 srv/ListContinuousRecordings.srv
 create mode 100644 srv/StorageRemoveSession.srv
 rename srv/{RetainRecording.srv => StorageSaveSession.srv} (100%)
 rename srv/{StartBagRetention.srv => StorageStartSession.srv} (100%)
 create mode 100644 srv/StorageStopSession.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b321868..4773c5c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,10 +67,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ListBagRecordings.srv"
   "srv/DeleteMap.srv"
   "srv/ListMaps.srv"
-  "srv/StartBagRetention.srv"
-  "srv/ListContinuousRecordings.srv"
-  "srv/DeleteContinuousRecording.srv"
-  "srv/RetainRecording.srv"
+  "srv/StorageStartSession.srv"
+  "srv/StorageStopSession.srv"
+  "srv/StorageRemoveSession.srv"
+  "srv/StorageSaveSession.srv"
   "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
diff --git a/srv/DeleteContinuousRecording.srv b/srv/DeleteContinuousRecording.srv
deleted file mode 100644
index 08eb38b..0000000
--- a/srv/DeleteContinuousRecording.srv
+++ /dev/null
@@ -1,24 +0,0 @@
-## Request
-
-# Recording Types (enum)
-#
-# BUFFER_FILE: Delete a recording from the buffer dir
-# KEEP_SESSION: Delete a session from keep dir
-uint8 BUFFER_FILE=0
-uint8 KEEP_SESSION=1
-
-
-# Type of request (see options above)
-uint8 delete_request_type
-
-# File/session name
-string name
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error
diff --git a/srv/ListContinuousRecordings.srv b/srv/ListContinuousRecordings.srv
deleted file mode 100644
index 1fd0463..0000000
--- a/srv/ListContinuousRecordings.srv
+++ /dev/null
@@ -1,15 +0,0 @@
-## Request
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Bag recordings from each category
-BagRecording[] active_recordings
-BagRecording[] buffer_recordings
-BagRecording[] keep_sessions
-
-# Error messages
-string error
diff --git a/srv/StorageRemoveSession.srv b/srv/StorageRemoveSession.srv
new file mode 100644
index 0000000..0b83151
--- /dev/null
+++ b/srv/StorageRemoveSession.srv
@@ -0,0 +1,13 @@
+## Request
+
+# File/session name
+string name
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error
diff --git a/srv/RetainRecording.srv b/srv/StorageSaveSession.srv
similarity index 100%
rename from srv/RetainRecording.srv
rename to srv/StorageSaveSession.srv
diff --git a/srv/StartBagRetention.srv b/srv/StorageStartSession.srv
similarity index 100%
rename from srv/StartBagRetention.srv
rename to srv/StorageStartSession.srv
diff --git a/srv/StorageStopSession.srv b/srv/StorageStopSession.srv
new file mode 100644
index 0000000..ee55984
--- /dev/null
+++ b/srv/StorageStopSession.srv
@@ -0,0 +1,10 @@
+## Request
+
+---
+## Response
+
+# Indicate successful run of service
+bool success
+
+# Error messages
+string error

From e166cc2c551ac698d6e5e78f36479482c84de5a7 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Wed, 3 Dec 2025 22:38:10 +0000
Subject: [PATCH 12/14] docstrings summary

---
 msg/StorageSummary.msg | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/msg/StorageSummary.msg b/msg/StorageSummary.msg
index 798a343..f507fac 100644
--- a/msg/StorageSummary.msg
+++ b/msg/StorageSummary.msg
@@ -1,4 +1,11 @@
+# Based on storage configuration, is storage available for recording?
 bool is_storage_available
+
+# Size of bags directory in bytes
 uint64 bags_dir_size_bytes
+
+# Available disk space in bytes
 uint64 available_disk_space_bytes
-builtin_interfaces/Time last_sweep_time
+
+# When was the summary updated last
+builtin_interfaces/Time last_updated

From ecab7f3786d05ebe2f9dd63aeab07b09dc885248 Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Tue, 9 Dec 2025 16:33:27 +0000
Subject: [PATCH 13/14] cmake fix

---
 CMakeLists.txt | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d591472..4773c5c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,13 +48,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/HttpRequest.msg"
   "msg/HttpResponse.msg"
   "msg/MapIdNamePair.msg"
-<<<<<<< HEAD
-  "msg/DateTime.msg"
-  "msg/ContinuousRecordingStatus.msg"
-=======
   "msg/GeoBoundary.msg"
   "msg/StorageSummary.msg"
->>>>>>> e166cc2c551ac698d6e5e78f36479482c84de5a7
   "srv/FetchRouteNode.srv"
   "srv/ModifyRouteNode.srv"
   "srv/ModifyRouteEdge.srv"

From 6d5cf31b2f5d4c941b29970189f2c6beddd6688d Mon Sep 17 00:00:00 2001
From: Dhruv Tyagi <dhruv@polymathrobotics.com>
Date: Tue, 9 Dec 2025 17:35:17 +0000
Subject: [PATCH 14/14] Removed status

---
 msg/ContinuousRecordingStatus.msg | 7 -------
 1 file changed, 7 deletions(-)
 delete mode 100644 msg/ContinuousRecordingStatus.msg

diff --git a/msg/ContinuousRecordingStatus.msg b/msg/ContinuousRecordingStatus.msg
deleted file mode 100644
index a43f0e8..0000000
--- a/msg/ContinuousRecordingStatus.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-# Status information about continuous recording & storage management
-
-string recording_status
-bool storage_available
-uint64 bags_dir_size_bytes  # Size of the bags directory in bytes
-uint64 available_disk_space_bytes  # Available disk space in bytes
-polymath_msgs/DateTime last_sweep  # Time of the last storage sweep