def insert(self, message, meta={}, wait=True):
"""
Inserts a ROS message into the message storage.
:Args:
| message (ROS Message): An instance of a ROS message type to store
| meta (dict): A dictionary of additional meta data to store in association
with thie message.
| wait (bool): If true, waits until database returns object id after insert
:Returns:
| (str) the ObjectId of the MongoDB document containing the stored message.
"""
# assume meta is a dict, convert k/v to tuple pairs
meta_tuple = (StringPair(dc_srv.MongoQueryMsgRequest.JSON_QUERY,
json.dumps(meta,
default=json_util.default)), )
serialised_msg = dc_util.serialise_message(message)
if wait:
return self.insert_srv(self.database,
self.collection, serialised_msg,
StringPairList(meta_tuple)).id
else:
msg = Insert(self.database, self.collection, serialised_msg,
StringPairList(meta_tuple))
self.pub_insert.publish(msg)
return True
def update(self,
message,
meta={},
message_query={},
meta_query={},
upsert=False):
"""
Updates a message.
:Args:
| message (ROS Message): The updated ROS message
| meta (dict): Updated meta data to store with the message.
| message_query (dict): A query to match the ROS message that is to be updated.
| meta_query (dict): A query to match against the meta data of the message to be updated
| upsert (bool): If True, insert the named message if it doesnt exist.
:Return:
| str, bool: The MongoDB ObjectID of the document, and whether it was altered by
the update.
"""
# serialise the json queries to strings using json_util.dumps
message_query_tuple = (StringPair(
dc_srv.MongoQueryMsgRequest.JSON_QUERY,
json.dumps(message_query, default=json_util.default)), )
meta_query_tuple = (StringPair(
dc_srv.MongoQueryMsgRequest.JSON_QUERY,
json.dumps(meta_query, default=json_util.default)), )
meta_tuple = (StringPair(dc_srv.MongoQueryMsgRequest.JSON_QUERY,
json.dumps(meta,
default=json_util.default)), )
return self.update_srv(self.database, self.collection, upsert,
StringPairList(message_query_tuple),
StringPairList(meta_query_tuple),
dc_util.serialise_message(message),
StringPairList(meta_tuple))
def move_entries(self,
move_before=None,
delete_after_move=False,
query=None):
move_before = move_before or rospy.Duration(self.interval)
if query is None:
query = {}
query = StringPairList(pairs=[
StringPair(first=MongoQueryMsgRequest.JSON_QUERY,
second=json_util.dumps(query))
])
goal = MoveEntriesGoal(database=self.database,
collections=StringList(self.collections),
move_before=move_before,
delete_after_move=delete_after_move,
query=query)
self.replicate_ac.send_goal(goal,
done_cb=self.done_cb,
active_cb=self.active_cb,
feedback_cb=self.feedback_cb)
while not self.replicate_ac.wait_for_result(
timeout=rospy.Duration(5.0)):
if rospy.is_shutdown():
break
elif self.monitor_network and not self.network_connected:
rospy.loginfo(
"disconnected wired network connection. canceling replication..."
)
self.replicate_ac.cancel_all_goals()
def query(self, type, message_query = {}, meta_query = {}, single = False, sort_query = []):
"""
Finds and returns message(s) matching the message and meta data queries.
:Parameters:
| type (str): The ROS message type of the stored messsage to retrieve.
| message_query (dict): A query to match the actual ROS message
| meta_query (dict): A query to match against the meta data of the message
| sort_query (list of tuple): A query to request sorted list to mongodb module
| single (bool): Should only one message be returned?
:Returns:
| [message, meta] where message is the queried message and meta a dictionary of
meta information. If single is false returns a list of these lists.
"""
# assume meta is a dict, convert k/v to tuple pairs for ROS msg type
# serialise the json queries to strings using json_util.dumps
message_tuple = (StringPair(dc_srv.MongoQueryMsgRequest.JSON_QUERY, json.dumps(message_query, default=json_util.default)),)
meta_tuple = (StringPair(dc_srv.MongoQueryMsgRequest.JSON_QUERY, json.dumps(meta_query, default=json_util.default)),)
if len(sort_query) > 0:
sort_tuple = [StringPair(str(k), str(v)) for k, v in sort_query]
else:
sort_tuple = []
# a tuple of SerialisedMessages
response = self.query_id_srv(self.database, self.collection, type, single, StringPairList(message_tuple), StringPairList(meta_tuple), StringPairList(sort_tuple))
# print response
if response.messages is None:
messages = []
metas = []
else:
messages = map(dc_util.deserialise_message, response.messages)
metas = map(dc_util.string_pair_list_to_dictionary, response.metas)
if single:
if len(messages) > 0:
return [messages[0], metas[0]]
else:
return [None, None]
else:
return zip(messages,metas)
def query_messages_ros_srv(self, req):
"""
Returns t
"""
collection = self._mongo_client[req.database][req.collection]
# build the query doc
obj_query = self.to_query_dict(req.message_query, req.meta_query)
# restrict results to have the type asked for
obj_query["_meta.stored_type"] = req.type
# TODO start using some string constants!
rospy.logdebug("query document: %s", obj_query)
# this is a list of entries in dict format including meta
sort_query_dict = dc_util.string_pair_list_to_dictionary(
req.sort_query)
sort_query_tuples = []
for k, v in iteritems(sort_query_dict):
try:
sort_query_tuples.append((k, int(v)))
except ValueError:
sort_query_tuples.append((k, v))
# this is a list of entries in dict format including meta
projection_query_dict = dc_util.string_pair_list_to_dictionary(
req.projection_query)
projection_meta_dict = dict()
projection_meta_dict["_meta"] = 1
entries = dc_util.query_message(collection, obj_query,
sort_query_tuples,
projection_query_dict, req.single,
req.limit)
if projection_query_dict:
meta_entries = dc_util.query_message(collection, obj_query,
sort_query_tuples,
projection_meta_dict,
req.single, req.limit)
# keep trying clients until we find an answer
if self.replicate_on_write:
for extra_client in self.extra_clients:
if len(entries) == 0:
extra_collection = extra_client[req.database][
req.collection]
entries = dc_util.query_message(extra_collection,
obj_query,
sort_query_tuples,
projection_query_dict,
req.single, req.limit)
if projection_query_dict:
meta_entries = dc_util.query_message(
extra_collection, obj_query, sort_query_tuples,
projection_meta_dict, req.single, req.limit)
if len(entries) > 0:
rospy.loginfo("found result in extra datacentre")
else:
break
serialised_messages = ()
metas = ()
for idx, entry in enumerate(entries):
# load the class object for this type
# TODO this should be the same for every item in the list, so could reuse
cls = dc_util.load_class(entry["_meta"]["stored_class"])
# instantiate the ROS message object from the dictionary retrieved from the db
message = dc_util.dictionary_to_message(entry, cls)
# the serialise this object in order to be sent in a generic form
serialised_messages = serialised_messages + (
dc_util.serialise_message(message), )
# add ObjectID into meta as it might be useful later
if projection_query_dict:
entry["_meta"]["_id"] = meta_entries[idx]["_id"]
else:
entry["_meta"]["_id"] = entry["_id"]
# serialise meta
metas = metas + (StringPairList([
StringPair(
dc_srv.MongoQueryMsgRequest.JSON_QUERY,
json.dumps(entry["_meta"], default=json_util.default))
]), )
return [serialised_messages, metas]
quaternion = Quaternion(10, 11, 12, 13)
# note that everything that is pass to the message_store must be a ros message type
#therefore use std_msg types for standard data types like float, int, bool, string etc
result = Bool(True)
# we will store our results in a separate collection
msg_store = MessageStoreProxy(collection='pose_results')
# save the ids from each addition
stored = []
stored.append([pose._type, msg_store.insert(pose)])
stored.append([point._type, msg_store.insert(point)])
stored.append([quaternion._type, msg_store.insert(quaternion)])
stored.append([result._type, msg_store.insert(result)])
# now store ids togther in store, addition types for safety
spl = StringPairList()
for pair in stored:
spl.pairs.append(StringPair(pair[0], pair[1]))
# and add some meta information
meta = {}
meta['description'] = "this wasn't great"
meta['result_time'] = datetime.utcfromtimestamp(
rospy.get_rostime().to_sec())
msg_store.insert(spl, meta=meta)
# now let's get all our logged data back
results = msg_store.query(StringPairList._type)
for message, meta in results:
if 'description' in meta:
print 'description: %s' % meta['description']
type=str,
default='{}',
help='Only entries that are matched by the query are moved.')
return p.parse_args(args)
if __name__ == '__main__':
rospy.init_node("mongodb_replicator_client")
args = parse_args(rospy.myargv()[1:])
# validate parameters
try:
data = json_util.loads(args.query)
query = StringPairList(pairs=[
StringPair(first=MongoQueryMsgRequest.JSON_QUERY,
second=json_util.dumps(data))
])
except:
raise ValueError('The query is invalid')
if args.move_before < 0:
raise ValueError('move_before time must be >= 0')
move_before = rospy.Duration(args.move_before)
goal = MoveEntriesGoal(database=args.database,
collections=StringList(args.collection),
move_before=move_before,
delete_after_move=args.delete_after_move,
query=query)
rospy.loginfo('Moves entries from (db: %s, cols: %s)' %
(args.database, args.collection))
rospy.loginfo('before time: %s' % (rospy.Time.now() - move_before))
