예제 #1
0
    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
예제 #2
0
    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 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]
예제 #4
0
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)
예제 #5
0
	def insert(self, message, meta = {}):
		"""
		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.
		: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)
		return self.insert_srv(self.database, self.collection, serialised_msg, StringPairList(meta_tuple)).id
예제 #6
0
    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]
예제 #7
0
	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))