#!/usr/bin/env python

# -*- coding: utf-8 -*-

import rospy

import mongodb_store_msgs.srv as dc_srv

import mongodb_store.util as dc_util

from mongodb_store.message_store import MessageStoreProxy

from geometry_msgs.msg import Pose, Point, Quaternion

import StringIO

if __name__ == '__main__':

rospy.init_node("example_message_store_client")

msg_store = MessageStoreProxy()

p = Pose(Point(0, 1, 2), Quaternion(3, 4, 5, 6))

try:

# insert a pose object with a name, store the id from db

p_id = msg_store.insert_named("my favourite pose", p)

# you don't need a name (note that this p_id is different than one above)

p_id = msg_store.insert(p)

p_id = msg_store.insert(['test1', 'test2'])

# get it back with a name

print msg_store.query_named("my favourite pose", Pose._type)

p.position.x = 666

# update it with a name

msg_store.update_named("my favourite pose", p)

p.position.y = 2020

# update the other inserted one using the id

msg_store.update_id(p_id, p)

stored_p, meta = msg_store.query_id(p_id, Pose._type)

assert stored_p.position.x == 666

assert stored_p.position.y == 2020

print "stored object ok"

print "stored object inserted at %s (UTC rostime) by %s" % (meta['inserted_at'], meta['inserted_by'])

print "stored object last updated at %s (UTC rostime) by %s" % (meta['last_updated_at'], meta['last_updated_by'])

# some other things you can do...

# get it back with a name

print msg_store.query_named("my favourite pose", Pose._type)

# try to get it back with an incorrect name, so get None instead

print msg_store.query_named("my favourite position", Pose._type)

# get all poses

print msg_store.query(Pose._type)

# get all non-existant typed objects, so get an empty list back

print msg_store.query( "not my type")

# get all poses where the y position is 1

print msg_store.query(Pose._type, {"position.y": 1})

# get all poses where the y position greater than 0

print msg_store.query(Pose._type, {"position.y": {"$gt": 0}})

except rospy.ServiceException, e:

print "Service call failed: %s"%e