def to_query_dict(self, message_query, meta_query):
"""
Decodes and combines the given StringPairList queries into a single mongodb query
"""
obj_query = dc_util.string_pair_list_to_dictionary(message_query)
bare_meta_query = dc_util.string_pair_list_to_dictionary(meta_query)
for (k, v) in iteritems(bare_meta_query):
obj_query["_meta." + k] = v
return obj_query
def to_query_dict(self, message_query, meta_query):
"""
Decodes and combines the given StringPairList queries into a single mongodb query
"""
obj_query = dc_util.string_pair_list_to_dictionary(message_query)
bare_meta_query = dc_util.string_pair_list_to_dictionary(meta_query)
for (k, v) in bare_meta_query.iteritems():
obj_query["_meta." + k] = v
return obj_query
def update_ros_srv(self, req):
"""
Updates a msg in the store
"""
# rospy.lrosoginfo("called")
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.message.type
# TODO start using some string constants!
rospy.logdebug("update spec document: %s", obj_query)
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
meta = dc_util.string_pair_list_to_dictionary(req.meta)
meta['last_updated_at'] = datetime.utcfromtimestamp(rospy.get_rostime().to_sec())
meta['last_updated_by'] = req._connection_header['callerid']
(obj_id, altered) = dc_util.update_message(collection, obj_query, obj, meta, req.upsert)
if self.replicate_on_write:
# also do update to extra datacentres
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.update_message(extra_collection, obj_query, obj, meta, req.upsert)
return str(obj_id), altered
def insert_ros_srv(self, req):
"""
Receives a
"""
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(req.meta)
# get requested collection from the db, creating if necessary
collection = self._mongo_client[req.database][req.collection]
# try:
meta['inserted_at'] = datetime.utcfromtimestamp(rospy.get_rostime().to_sec())
meta['inserted_by'] = req._connection_header['callerid']
obj_id = dc_util.store_message(collection, obj, meta)
if self.replicate_on_write:
# also do insert to extra datacentres, making sure object ids are consistent
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.store_message(extra_collection, obj, meta, obj_id)
return str(obj_id)
def insert_ros_srv(self, req):
"""
Receives a
"""
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(req.meta)
# get requested collection from the db, creating if necessary
collection = self._mongo_client[req.database][req.collection]
# try:
meta['inserted_at'] = datetime.utcfromtimestamp(
rospy.get_rostime().to_sec())
meta['inserted_by'] = req._connection_header['callerid']
obj_id = dc_util.store_message(collection, obj, meta)
if self.replicate_on_write:
# also do insert to extra datacentres, making sure object ids are consistent
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.store_message(extra_collection, obj, meta, obj_id)
return str(obj_id)
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 sort_query_dict.iteritems():
try:
sort_query_tuples.append((k, int(v)))
except ValueError:
sort_query_tuples.append((k,v))
entries = dc_util.query_message(collection, obj_query, sort_query_tuples, req.single, req.limit)
# keep trying clients until we find an answer
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, req.single, req.limit)
if len(entries) > 0:
rospy.loginfo("found result in extra datacentre")
else:
break
# rospy.logdebug("entries: %s", entries)
serialised_messages = ()
metas = ()
for entry in 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
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]
def insert_ros_srv(self, req):
"""
Receives a
"""
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(req.meta)
# get requested collection from the db, creating if necessary
collection = self._mongo_client[req.database][req.collection]
#check if the object has the location attribute
if hasattr(obj, 'pose'):
# if it does create a location index
collection.create_index([("loc", pymongo.GEO2D)])
#check if the object has the location attribute
if hasattr(obj, 'geotype'):
# if it does create a location index
collection.create_index([("geoloc", pymongo.GEOSPHERE)])
#check if the object has the timestamp attribute TODO ?? really necessary
#if hasattr(obj, 'logtimestamp'):
# if it does create a location index
# collection.create_index([("datetime", pymongo.GEO2D)])
# try:
stamp = rospy.get_rostime()
meta['inserted_at'] = datetime.utcfromtimestamp(stamp.to_sec())
meta['inserted_by'] = req._connection_header['callerid']
if hasattr(obj, "header") and hasattr(obj.header, "stamp") and\
isinstance(obj.header.stamp, genpy.Time):
stamp = obj.header.stamp
elif isinstance(obj, TFMessage):
if obj.transforms:
transforms = sorted(obj.transforms,
key=lambda m: m.header.stamp,
reverse=True)
stamp = transforms[0].header.stamp
meta['published_at'] = datetime.utcfromtimestamp(stamp.to_sec())
meta['timestamp'] = stamp.to_nsec()
obj_id = dc_util.store_message(collection, obj, meta)
if self.replicate_on_write:
# also do insert to extra datacentres, making sure object ids are consistent
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.store_message(extra_collection, obj, meta, obj_id)
return str(obj_id)
def insert_msg(message, database='message_store', collection='message_store'):
sp = (StringPair(MongoQueryMsgRequest.JSON_QUERY, json.dumps({}, default=json_util.default)),)
# deserialize data into object
obj = dc_util.deserialise_message(dc_util.serialise_message(message))
# obj = to_msg(message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(StringPairList(sp))
# get requested collection from the db, creating if necessary
collection = _mongo_client[database][collection]
meta['inserted_at'] = datetime.utcfromtimestamp(rospy.get_rostime().to_sec())
meta['inserted_by'] = 'asdf'
obj_id = dc_util.store_message(collection, obj, meta)
return str(obj_id)
def insert_ros_srv(self, req):
"""
Receives a
"""
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(req.meta)
# get requested collection from the db, creating if necessary
collection = self._mongo_client[req.database][req.collection]
#check if the object has the location attribute
if hasattr(obj, 'pose'):
# if it does create a location index
collection.create_index([("loc", pymongo.GEO2D)])
#check if the object has the location attribute
if hasattr(obj, 'geotype'):
# if it does create a location index
collection.create_index([("geoloc", pymongo.GEOSPHERE)])
#check if the object has the timestamp attribute TODO ?? really necessary
#if hasattr(obj, 'logtimestamp'):
# if it does create a location index
# collection.create_index([("datetime", pymongo.GEO2D)])
# try:
meta['inserted_at'] = datetime.utcfromtimestamp(rospy.get_rostime().to_sec())
meta['inserted_by'] = req._connection_header['callerid']
obj_id = dc_util.store_message(collection, obj, meta)
if self.replicate_on_write:
# also do insert to extra datacentres, making sure object ids are consistent
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.store_message(extra_collection, obj, meta, obj_id)
return str(obj_id)
def insert_ros_srv(self, req):
"""
Receives a
"""
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
# convert input tuple to dict
meta = dc_util.string_pair_list_to_dictionary(req.meta)
# get requested collection from the db, creating if necessary
collection = self._mongo_client[req.database][req.collection]
# check if the object has the location attribute
if hasattr(obj, 'pose'):
# if it does create a location index
collection.create_index([("loc", pymongo.GEO2D)])
#check if the object has the location attribute
if hasattr(obj, 'geotype'):
# if it does create a location index
collection.create_index([("geoloc", pymongo.GEOSPHERE)])
# check if the object has the timestamp attribute TODO ?? really necessary
# if hasattr(obj, 'logtimestamp'):
# if it does create a location index
# collection.create_index([("datetime", pymongo.GEO2D)])
# try:
meta['inserted_at'] = datetime.utcfromtimestamp(
rospy.get_rostime().to_sec())
meta['inserted_by'] = req._connection_header['callerid']
obj_id = dc_util.store_message(collection, obj, meta)
if self.replicate_on_write:
# also do insert to extra datacentres, making sure object ids are consistent
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.store_message(extra_collection, obj, meta, obj_id)
return str(obj_id)
def update_ros_srv(self, req):
"""
Updates a msg in the store
"""
# rospy.lrosoginfo("called")
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.message.type
# TODO start using some string constants!
rospy.logdebug("update spec document: %s", obj_query)
# deserialize data into object
obj = dc_util.deserialise_message(req.message)
meta = dc_util.string_pair_list_to_dictionary(req.meta)
meta['last_updated_at'] = datetime.utcfromtimestamp(
rospy.get_rostime().to_sec())
meta['last_updated_by'] = req._connection_header['callerid']
(obj_id, altered) = dc_util.update_message(collection, obj_query, obj,
meta, req.upsert)
if self.replicate_on_write:
# also do update to extra datacentres
for extra_client in self.extra_clients:
extra_collection = extra_client[req.database][req.collection]
dc_util.update_message(extra_collection, obj_query, obj, meta,
req.upsert)
return str(obj_id), altered
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]
