def __init__(self, replicate_on_write=False):
self.replicate_on_write = replicate_on_write
use_daemon = rospy.get_param('mongodb_use_daemon', False)
# If you want to use a remote datacenter, then it should be set as false
use_localdatacenter = rospy.get_param('~mongodb_use_localdatacenter', True)
if use_daemon:
db_host = rospy.get_param('mongodb_host')
db_port = rospy.get_param('mongodb_port')
is_daemon_alive = dc_util.check_connection_to_mongod(db_host, db_port)
if not is_daemon_alive:
raise Exception("No Daemon?")
else:
if use_localdatacenter:
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
# move these to after the wait_for_mongo check as they may not be set before the db is available
db_host = rospy.get_param('mongodb_host')
db_port = rospy.get_param('mongodb_port')
self._mongo_client=MongoClient(db_host, db_port)
extras = rospy.get_param('mongodb_store_extras', [])
self.extra_clients = []
for extra in extras:
try:
self.extra_clients.append(MongoClient(extra[0], extra[1]))
except pymongo.errors.ConnectionFailure, e:
rospy.logwarn('Could not connect to extra datacentre at %s:%s' % (extra[0], extra[1]))
def test_replication(self):
replication_db = "replication_test"
replication_col = "replication_test"
# connect to destination for replication
try:
self.assertTrue(wait_for_mongo(ns="/datacentre2"), "wait for mongodb server")
dst_client = import_MongoClient()("localhost", 49163)
count = dst_client[replication_db][replication_col].count()
self.assertEqual(count, 0, "No entry in destination")
except pymongo.errors.ConnectionFailure:
self.fail("Failed to connect to destination for replication")
# insert an entry to move
self.assertTrue(wait_for_mongo(), "wait for mongodb server")
msg_store = MessageStoreProxy(
database=replication_db, collection=replication_col)
msg = Wrench()
msg_name = "replication test message"
self.assertIsNotNone(msg_store.insert_named(msg_name, msg), "inserted message")
# move entries
rospy.sleep(3)
retcode = subprocess.check_call([
get_script_path(),
'--move-before', '0',
replication_db, replication_col])
self.assertEqual(retcode, 0, "replicator_client returns code 0")
# check if replication was succeeded
rospy.sleep(3)
count = dst_client[replication_db][replication_col].count()
self.assertGreater(count, 0, "entry moved to the destination")
# test deletion after move
data, meta = msg_store.query_named(msg_name, Wrench._type)
self.assertIsNotNone(data, "entry is still in source")
retcode = subprocess.check_call([
get_script_path(),
'--move-before', '0',
'--delete-after-move',
replication_db, replication_col])
self.assertEqual(retcode, 0, "replicator_client returns code 0")
data, meta = msg_store.query_named("replication test", Wrench._type)
self.assertIsNone(data, "moved entry is deleted from source")
def __init__(self, replicate_on_write=False):
use_daemon = rospy.get_param('mongodb_use_daemon', False)
# If you want to use a remote datacenter, then it should be set as false
use_localdatacenter = rospy.get_param('~mongodb_use_localdatacenter',
True)
local_timeout = rospy.get_param('~local_timeout', 10)
if str(local_timeout).lower() == "none":
local_timeout = None
# wait for hostname and port for mongodb server
for _ in range(10):
if rospy.has_param('mongodb_host') and rospy.has_param(
'mongodb_port'):
break
rospy.sleep(1.0)
db_host = rospy.get_param('mongodb_host')
db_port = rospy.get_param('mongodb_port')
if use_daemon:
is_daemon_alive = dc_util.check_connection_to_mongod(
db_host, db_port)
if not is_daemon_alive:
raise Exception("No Daemon?")
elif use_localdatacenter:
rospy.loginfo('Waiting for local datacentre (timeout: %s)' %
str(local_timeout))
have_dc = dc_util.wait_for_mongo(local_timeout)
if not have_dc:
raise Exception("No Datacentre?")
self.keep_trash = rospy.get_param('mongodb_keep_trash', True)
self._mongo_client = MongoClient(db_host, db_port)
self.replicate_on_write = rospy.get_param("mongodb_replicate_on_write",
replicate_on_write)
if self.replicate_on_write:
rospy.logwarn(
"The option 'replicate_on_write' is now deprecated and will be removed. "
"Use 'Replication' on MongoDB instead: "
"https://docs.mongodb.com/manual/replication/")
extras = rospy.get_param('mongodb_store_extras', [])
self.extra_clients = []
for extra in extras:
try:
self.extra_clients.append(MongoClient(extra[0], extra[1]))
except pymongo.errors.ConnectionFailure, e:
rospy.logwarn(
'Could not connect to extra datacentre at %s:%s' %
(extra[0], extra[1]))
rospy.loginfo('Replicating content to a futher %s datacentres',
len(self.extra_clients))
def test_replication_with_query(self):
replication_db = "replication_test_with_query"
replication_col = "replication_test_with_query"
# connect to destination for replication
try:
self.assertTrue(wait_for_mongo(ns="/datacentre2"), "wait for mongodb server")
dst_client = import_MongoClient()("localhost", 49163)
count = dst_client[replication_db][replication_col].count()
self.assertEqual(count, 0, "No entry in destination")
except pymongo.errors.ConnectionFailure:
self.fail("Failed to connect to destination for replication")
# insert an entry to move
self.assertTrue(wait_for_mongo(), "wait for mongodb server")
msg_store = MessageStoreProxy(
database=replication_db, collection=replication_col)
for i in range(5):
msg = Wrench()
msg.force.x = i
msg_store.insert(msg)
msg = Pose()
msg.position.x = i
msg_store.insert(msg)
# move entries with query
rospy.sleep(3)
query = {'_meta.stored_type': Pose._type}
retcode = subprocess.check_call([
get_script_path(),
'--move-before', '0',
'--query', json_util.dumps(query),
replication_db, replication_col])
self.assertEqual(retcode, 0, "replicator_client returns code 0")
# check if replication was succeeded
rospy.sleep(3)
count = dst_client[replication_db][replication_col].count()
self.assertEqual(count, 5, "replicated entry exists in destination")
def __init__(self):
rospy.init_node("mongo_bridge")
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client = pymongo.MongoClient(rospy.get_param("mongodb_host"), rospy.get_param("mongodb_port"))
# advertise ros services
for attr in dir(self):
if attr.endswith("_ros_srv"):
service = getattr(self, attr)
rospy.Service("/mongo_bridge/" + attr[:-8], service.type, service)
def __init__(self):
rospy.init_node("mongo_bridge")
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client=pymongo.MongoClient(rospy.get_param("mongodb_host"),
rospy.get_param("mongodb_port") )
# advertise ros services
for attr in dir(self):
if attr.endswith("_ros_srv"):
service=getattr(self, attr)
rospy.Service("/mongo_bridge/"+attr[:-8], service.type, service)
def __init__(self, replicate_on_write=False):
self.replicate_on_write = replicate_on_write
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client=MongoClient(rospy.get_param("mongodb_host"),
rospy.get_param("mongodb_port") )
extras = rospy.get_param('mongodb_store_extras', [])
self.extra_clients = []
for extra in extras:
try:
self.extra_clients.append(MongoClient(extra[0], extra[1]))
except pymongo.errors.ConnectionFailure, e:
rospy.logwarn('Could not connect to extra datacentre at %s:%s' % (extra[0], extra[1]))
def __init__(self, replicate_on_write=False):
self.replicate_on_write = replicate_on_write
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client = MongoClient(rospy.get_param("mongodb_host"),
rospy.get_param("mongodb_port"))
extras = rospy.get_param('mongodb_store_extras', [])
self.extra_clients = []
for extra in extras:
try:
self.extra_clients.append(MongoClient(extra[0], extra[1]))
except pymongo.errors.ConnectionFailure, e:
rospy.logwarn(
'Could not connect to extra datacentre at %s:%s' %
(extra[0], extra[1]))
def __init__(self):
rospy.init_node("monitor_logs")
have_dc = dc_util.wait_for_mongo()
if not have_dc:
raise Exception("No Datacentre?")
self._mongo_client = pymongo.MongoClient(
rospy.get_param("mongodb_host"), rospy.get_param("mongodb_port"))
#self.topics_to_check = rospy.get_param("topics", "/tf \
# /scan \
# /odom \
# /robot_pose \
self.topics_to_check = rospy.get_param(
"topics", "/amcl_pose \
/current_node \
/current_edge \
/map \
/topological_map \
/rosout_filtered \
/topological_navigation/Route \
/topological_navigation/Statistics \
/current_node \
/current_edge \
/closest_node \
/do_backtrack/goal \
/speak/goal \
/strands_emails/goal \
/strands_image_tweets/goal \
/chargingServer/goal \
/chargingServer/result \
/chargingServer/cancel \
/docking/goal \
/docking/result \
/docking/cancel \
/undocking/goal \
/undocking/result \
/undocking/cancel \
/map_updates \
/move_base/current_goal \
/charging_task/goal \
/charging_task/result \
/charging_task/cancel \
/maintenance_task/goal \
/maintenance_task/result \
/maintenance_task/cancel \
/task_executor/events \
/emergency_stop_status \
/info_terminal/active_screen \
/info_terminal/task_outcome \
/info_task_server/goal \
/info_task_server/result \
/info_task_server/cancel \
/bellbot/goal \
/bellbot/result \
/bellbot/cancel \
/walking_group_fast/goal \
/walking_group_fast/result \
/walking_group_fast/cancel \
/walking_group_slow/goal \
/walking_group_slow/result \
/walking_group_slow/cancel \
/store_logs/cancel \
/store_logs/goal \
/store_logs/result \
/strands_webserver/display_1/page \
/strands_webserver/display_2/page \
/strands_webserver/display_3/page \
/strands_webserver/display_4/page \
/strands_webserver/display_5/page \
/strands_webserver/display_6/page \
/strands_webserver/display_7/page \
/strands_webserver/display_8/page \
/strands_webserver/display_9/page"
)
self.topic_list = self.topics_to_check.split()
self.topics_map = {}
self.pub = rospy.Publisher('monitored_logs', String, queue_size=10)
self.timer = rospy.Timer(rospy.Duration(30), self.timer_callback)
