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 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_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(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
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]
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))
