def sendDbHistoryInformation(self):
rate = rospy.Rate(100) # 100hz
while not rospy.is_shutdown():
temp_dbdata = Tmsdb()
object_information = TmsdbStamped()
d = datetime.now() - timedelta(days=3, hours=11)
t1 = 'ISODate(' + d.isoformat() + ')'
t2 = 'ISODate(' + (
d + timedelta(days=0, hours=1, minutes=0)).isoformat() + ')'
print(t1)
# print(db.history.ensure_index({'id':1,'time':1}))
# cursor = db.history.find({'id':{'$gte':1006, '$lte':1018},
# 'time':{'$gte':t1,'$lt':t2}, 'state':1}).sort('time')
cursor = db.history.find({
'id': {
'$gte': 1006,
'$lte': 1018
},
'time': {
'$gte': t1,
'$lt': t2
},
'state': 1
})
for doc in cursor:
# if not rospy.is_shutdown():
# print(doc)
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
object_information.tmsdb.append(temp_dbdata)
self.data_pub.publish(object_information)
rate.sleep()
def sendDbCurrentInformation(self):
rate = rospy.Rate(100) # 100hz
while not rospy.is_shutdown():
temp_dbdata = Tmsdb()
current_environment_information = TmsdbStamped()
cursor = db.now.find({'state':1})
# print(cursor.count())
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
current_environment_information.tmsdb.append(temp_dbdata)
# rospy.loginfo("send db data!")
self.data_pub.publish(current_environment_information)
rate.sleep()
temp_name = cursor[0]['name'];
temp_place = cursor[0]['place'];
# Search only using the place tag
if mode == MODE_PLACE :
ret = TmsdbGetDataResponse()
cursor = db.now.find({'place':req.tmsdb.place})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the place tag!";
>>>>>>> 51ecc3540900cfe208d8c2ca1ecaf2184d407ca7
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
if mode == MODE_HIERARCHY:
<<<<<<< HEAD
loop_end_tag = False
temp_place = req.tmsdb.id
while temp_place != 0:
cursor = db.now.find({'id': temp_place}).sort({'time': -1})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the target ID, place info!"
=======
loop_end_tag = False;
temp_place = req.tmsdb.id;
def dbReaderSrvCallback(self, request, response):
response_tmsdb = Tmsdb()
mode = 0
temp_id = 0
temp_type = ""
temp_name = ""
temp_place = 0
sid = 100000
MODE_ALL = 0
MODE_NAME_IDTABLE = 1
MODE_NAME = 2
MODE_NAME_SENSOR = 3
MODE_ID_IDTABLE = 4
MODE_ID = 5
MODE_ID_SENSOR = 6
MODE_TYPE_IDTABLE = 7
MODE_TYPE = 8
MODE_TYPE_SENSOR = 9
MODE_PLACE_IDTABLE = 10
MODE_PLACE = 11
MODE_PLACE_TYPE = 12
MODE_HIERARCHY = 13
MODE_TAG_IDTABLE = 14
MODE_ID_STATE = 15
MODE_ID_SENSOR_STATE = 16
MODE_ERROR = 999
if request.tmsdb.tag != '':
mode = MODE_TAG_IDTABLE
elif (request.tmsdb.id == 0) and (request.tmsdb.type == '') and (
request.tmsdb.sensor == 0) and (request.tmsdb.place
== 0) and (request.tmsdb.name
== ''):
mode = MODE_ALL
elif (request.tmsdb.id == sid) and (request.tmsdb.name != ''):
mode = MODE_NAME_IDTABLE
elif (request.tmsdb.id == 0) and (request.tmsdb.name != '') and (
request.tmsdb.id != sid) and (request.tmsdb.type == '') and (
request.tmsdb.sensor == 0) and (request.tmsdb.place == 0):
mode = MODE_NAME
elif (request.tmsdb.id == 0) and (request.tmsdb.name != '') and (
request.tmsdb.id != sid) and (request.tmsdb.type == '') and (
request.tmsdb.sensor != 0) and (request.tmsdb.place == 0):
mode = MODE_NAME_SENSOR
elif (request.tmsdb.id > sid) and (request.tmsdb.type == ''):
request.tmsdb.id -= sid
mode = MODE_ID_IDTABLE
elif (request.tmsdb.id != 0) and (request.tmsdb.id != sid) and (
request.tmsdb.type == '') and (request.tmsdb.sensor
== 0) and (request.tmsdb.place
== 0):
if (request.tmsdb.state == 1):
mode = MODE_ID_STATE
else:
mode = MODE_ID
elif (request.tmsdb.id != 0) and (request.tmsdb.id != sid) and (
request.tmsdb.type
== '') and (request.tmsdb.sensor != 0) and (request.tmsdb.place
== 0):
if (request.tmsdb.state == 1):
mode = MODE_ID_SENSOR_STATE
else:
mode = MODE_ID_SENSOR
elif (request.tmsdb.id == sid) and (request.tmsdb.type != ''):
mode = MODE_TYPE_IDTABLE
elif (request.tmsdb.id == 0) and (request.tmsdb.type != '') and (
request.tmsdb.sensor == 0) and (request.tmsdb.place == 0):
mode = MODE_TYPE
elif (request.tmsdb.id == 0) and (request.tmsdb.type != '') and (
request.tmsdb.sensor != 0) and (request.tmsdb.place == 0):
mode = MODE_TYPE_SENSOR
elif (request.tmsdb.id
== sid) and (request.tmsdb.type
== '') and (request.tmsdb.place != 0):
mode = MODE_PLACE_IDTABLE
elif (request.tmsdb.id
== 0) and (request.tmsdb.type
== '') and (request.tmsdb.place != 0):
mode = MODE_PLACE
elif (request.tmsdb.id == 0) and (request.tmsdb.type !=
'') and (request.tmsdb.place != 0):
mode = MODE_PLACE_TYPE
elif (request.tmsdb.id != 0) and (request.tmsdb.type
== '') and (request.tmsdb.place
== sid):
mode = MODE_HIERARCHY
elif (request.tmsdb.id > 0) and ((request.tmsdb.id < 1000) or
(request.tmsdb.id > 20002)):
mode = MODE_ERROR
else:
mode = MODE_ERROR
# Wrong request
if mode == MODE_ERROR:
response_tmsdb.note = "Wrong request! Try to check the command!"
response.tmsdb.append(response_tmsdb)
return response
# Search the ID, type, etc infomation in ID table
if (mode == MODE_NAME) or (mode == MODE_NAME_SENSOR):
cursor = db.default.find({'name': request.tmsdb.name})
temp_type = cursor[0]['type']
temp_id = cursor[0]['id']
temp_place = cursor[0]['place']
# Search the type, name, etc infomation in ID table
if (mode == MODE_ID) or (mode == MODE_ID_SENSOR) or (
mode == MODE_ID_STATE) or (mode == MODE_ID_SENSOR_STATE) or (
mode == MODE_HIERARCHY):
cursor = db.default.find({'id': request.tmsdb.id})
temp_type = cursor[0]['type']
temp_name = cursor[0]['name']
temp_place = cursor[0]['place']
# Search only using the place tag
if mode == MODE_PLACE:
cursor = db.now.find({'place': request.tmsdb.place})
if cursor.count() == 0:
response_tmsdb.note = "Wrong request! Try to check the place tag!"
response.tmsdb.append(response_tmsdb)
return response
else:
for doc in cursor:
del doc['_id']
response_tmsdb = db_util.document_to_msg(doc, Tmsdb)
response.tmsdb.append(response_tmsdb)
return response
if mode == MODE_HIERARCHY:
loop_end_tag = False
temp_place = request.tmsdb.id
while temp_place != 0:
cursor = db.now.find({'id': temp_place}).sort({'time': -1})
if cursor.count() == 0:
response_tmsdb.note = "Wrong request! Try to check the target ID, place info!"
response.tmsdb.append(response_tmsdb)
return response
else:
for doc in cursor:
del doc['_id']
response_tmsdb = db_util.document_to_msg(doc, Tmsdb)
response.tmsdb.append(response_tmsdb)
if loop_end_tag:
break
temp_id = response_tmsdb.place # ?
cursor = db.default.find({'id': temp_id})
temp_type = cursor[0]['type']
temp_name = cursor[0]['name']
temp_place = cursor[0]['place']
if temp_id == temp_place:
loop_end_tag = True
else:
loop_end_tag = False
temp_place = temp_id
return response
if mode == MODE_ALL:
cursor = db.default.find()
elif mode == MODE_TAG_IDTABLE:
cursor = db.default.find({'tag': {'$regex': request.tmsdb.tag}})
elif mode == MODE_NAME_IDTABLE:
cursor = db.default.find({'name': request.tmsdb.name})
elif mode == MODE_NAME:
cursor = db.now.find({'name': request.tmsdb.name})
elif mode == MODE_NAME_SENSOR:
cursor = db.now.find({
'name': request.tmsdb.name,
'sensor': request.tmsdb.sensor
})
elif mode == MODE_ID_IDTABLE:
cursor = db.default.find({'id': request.tmsdb.id})
elif mode == MODE_ID:
cursor = db.now.find({'id': request.tmsdb.id})
elif mode == MODE_ID_STATE:
cursor = db.now.find({'id': request.tmsdb.id, 'state': 1})
elif mode == MODE_ID_SENSOR:
cursor = db.now.find({
'id': request.tmsdb.id,
'sensor': request.tmsdb.sensor
})
elif mode == MODE_ID_SENSOR_STATE:
cursor = db.now.find({
'id': request.tmsdb.id,
'sensor': request.tmsdb.sensor,
'state': 1
})
elif mode == MODE_TYPE_IDTABLE:
cursor = db.default.find({'type': request.tmsdb.type})
elif mode == MODE_TYPE:
cursor = db.now.find({'type': request.tmsdb.type})
elif mode == MODE_TYPE_SENSOR:
cursor = db.now.find({'sensor': request.tmsdb.sensor})
elif mode == MODE_PLACE_IDTABLE:
cursor = db.default.find({'place': request.tmsdb.place})
elif mode == MODE_PLACE_TYPE:
cursor = db.now.find({'place': request.tmsdb.place})
if cursor.count() == 0:
response_tmsdb.note = "Wrong request! Try to check the command"
response.tmsdb.append(response_tmsdb)
return response
else:
for doc in cursor:
del doc['_id']
response_tmsdb = db_util.document_to_msg(doc, Tmsdb)
response.tmsdb.append(response_tmsdb)
return response
def dbReaderSrvCallback(self, req):
rospy.loginfo("Received the service call!")
rospy.loginfo(req)
temp_dbdata = Tmsdb()
TmsdbGetData()
result = False
mode = 0;
temp_id = 0;
temp_type = "";
temp_name = "";
temp_place = 0;
sid = 100000
MODE_ALL = 0
MODE_NAME_IDTABLE = 1
MODE_NAME = 2
MODE_NAME_SENSOR = 3
MODE_ID_IDTABLE = 4
MODE_ID = 5
MODE_ID_SENSOR = 6
MODE_TYPE_IDTABLE = 7
MODE_TYPE = 8
MODE_TYPE_SENSOR = 9
MODE_PLACE_IDTABLE = 10
MODE_PLACE = 11
MODE_PLACE_TYPE = 12
MODE_HIERARCHY = 13
MODE_TAG_IDTABLE = 14
MODE_ERROR = 999
if req.tmsdb.tag != '':
mode = MODE_TAG_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0) and (req.tmsdb.name == ''):
mode = MODE_ALL
elif (req.tmsdb.id == sid) and (req.tmsdb.name != ''):
mode = MODE_NAME_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.name != '') and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0):
mode = MODE_NAME
elif (req.tmsdb.id == 0) and (req.tmsdb.name != '') and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_NAME_SENSOR
elif (req.tmsdb.id > sid) and (req.tmsdb.type == ''):
req.tmsdb.id -= sid
mode = MODE_ID_IDTABLE
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place == 0):
mode = MODE_ID
elif (req.tmsdb.id != 0) and (req.tmsdb.id != sid) and (req.tmsdb.type == '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place == 0):
mode = MODE_ID_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type != ''):
mode = MODE_TYPE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.sensor == 0) and (req.tmsdb.place ==0):
mode = MODE_TYPE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.sensor != 0) and (req.tmsdb.place ==0):
mode = MODE_TYPE_SENSOR
elif (req.tmsdb.id == sid) and (req.tmsdb.type == '') and (req.tmsdb.place !=0):
mode = MODE_PLACE_IDTABLE
elif (req.tmsdb.id == 0) and (req.tmsdb.type == '') and (req.tmsdb.place !=0):
mode = MODE_PLACE
elif (req.tmsdb.id == 0) and (req.tmsdb.type != '') and (req.tmsdb.place !=0):
mode = MODE_PLACE_TYPE
elif (req.tmsdb.id != 0) and (req.tmsdb.type == '') and (req.tmsdb.place == sid):
mode = MODE_HIERARCHY
elif (req.tmsdb.id > 0) and ((req.tmsdb.id < 1000) or (req.tmsdb.id > 20002)):
mode = MODE_ERROR
else:
mode = MODE_ERROR
if mode == MODE_ERROR:
temp_dbdata.note = "Wrong request! Try to check the command!";
ret = TmsdbGetDataResponse()
ret.tmsdb.append(temp_dbdata)
return ret
# Search the ID, type, etc infomation in ID table
if (mode == MODE_NAME) or (mode == MODE_NAME_SENSOR):
cursor = db.default.find({'name':req.tmsdb.name})
temp_type = cursor[0]['type'];
temp_id = cursor[0]['id'];
temp_place = cursor[0]['place'];
# Search the type, name, etc infomation in ID table
if(mode == MODE_ID) or (mode == MODE_ID_SENSOR) or (mode == MODE_HIERARCHY):
cursor = db.default.find({'id':req.tmsdb.id})
temp_type = cursor[0]['type'];
temp_name = cursor[0]['name'];
temp_place = cursor[0]['place'];
# Search only using the place tag
if mode == MODE_PLACE :
ret = TmsdbGetDataResponse()
cursor = db.now.find({'place':req.tmsdb.place})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the place tag!";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret
if mode == MODE_HIERARCHY:
loop_end_tag = False;
temp_place = req.tmsdb.id;
while temp_place != 0:
cursor = db.now.find({'id':temp_place}).sort({'time':-1})
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the target ID, place info!";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
if loop_end_tag:
break
temp_id = temp_dbdata.place;
cursor = db.default.find({'id':temp_id})
temp_type = cursor[0]['type'];
temp_name = cursor[0]['name'];
temp_place = cursor[0]['place'];
if temp_id == temp_place:
loop_end_tag = True;
else:
loop_end_tag = False;
temp_place = temp_id;
return ret
if mode == MODE_ALL:
cursor = db.default.find()
elif mode == MODE_TAG_IDTABLE:
cursor = db.default.find({'tag':{'$regex': req.tmsdb.tag}})
elif mode == MODE_NAME_IDTABLE:
cursor = db.default.find({'name':req.tmsdb.name})
elif mode == MODE_NAME:
cursor = db.now.find({'name':req.tmsdb.name})
elif mode == MODE_NAME_SENSOR:
cursor = db.now.find({'name':req.tmsdb.name, 'sensor':req.tmsdb.sensor})
elif mode == MODE_ID_IDTABLE:
cursor = db.default.find({'id':req.tmsdb.id})
elif mode == MODE_ID:
cursor = db.now.find({'id':req.tmsdb.id})
elif mode == MODE_ID_SENSOR:
cursor = db.now.find({'id':req.tmsdb.id, 'sensor':req.tmsdb.sensor})
elif mode == MODE_TYPE_IDTABLE:
cursor = db.default.find({'type':req.tmsdb.type})
elif mode == MODE_TYPE:
cursor = db.now.find({'type':req.tmsdb.type})
elif mode == MODE_TYPE_SENSOR:
cursor = db.now.find({'sensor':req.tmsdb.sensor})
elif mode == MODE_PLACE_IDTABLE:
cursor = db.default.find({'place':req.tmsdb.place})
elif mode == MODE_PLACE_TYPE:
cursor = db.now.find({'place':req.tmsdb.place})
ret = TmsdbGetDataResponse()
if cursor.count() == 0:
temp_dbdata.note = "Wrong request! Try to check the command";
ret.tmsdb.append(temp_dbdata)
return ret
else:
for doc in cursor:
del doc['_id']
temp_dbdata = db_util.document_to_msg(doc, Tmsdb)
ret.tmsdb.append(temp_dbdata)
return ret