#!/usr/bin/env python
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import time
import subprocess

RECORD_COMMAND = ['rosbag',
                  'record',
                  'chatter',
                  '-O',
                  '--duration=5']
SLEEP_TIME_SEC = 10

def test_signal_cleanup(test_bag_file_name, test_signal):
    """
    Run rosbag record and send a signal to it after some time.

    :param test_bag_file_name: bag name for recorded output
    :param test_signal: signal to send to rosbag
    """
    test_command = list(RECORD_COMMAND)
    test_command.insert(4, test_bag_file_name)

    p = subprocess.Popen(test_command, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
    # wait while the recorder creates a bag for us to examine
    time.sleep(SLEEP_TIME_SEC)
    p.send_signal(test_signal)
    p.wait()
