def query_messages_ros_srv(self, req):
"""
Returns t
"""
collection = self._mongo_client[req.database][req.collection]
# build the query doc
# load serialised json
if len(req.message_query) > 0 and req.message_query[
0].first == dc_srv.MongoQueryMsgRequest.JSON_QUERY:
obj_query = json.loads(req.message_query[0].second)
# else use the string pairs
else:
obj_query = dict(
(pair.first, pair.second) for pair in req.message_query)
# load serialised json for meta
if len(req.meta_query) > 0 and req.meta_query[
0].first == dc_srv.MongoQueryMsgRequest.JSON_QUERY:
meta_query = json.loads(req.meta_query[0].second)
# prefix all keys with "_meta." to make it
for old_key in meta_query:
meta_query["_meta." + old_key] = meta_query.pop(old_key)
obj_query.update(meta_query)
# else use the string pairs
else:
obj_query.update(
dict(("_meta." + pair.first, pair.second)
for pair in 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.loginfo("query document: %s", obj_query)
# this is a list of entries in dict format including meta
entries = dc_util.query_message(collection, obj_query, req.single)
serialised_messages = ()
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), )
return [serialised_messages]
def query_messages_ros_srv(self, req):
"""
Returns t
"""
collection = self._mongo_client[req.database][req.collection]
# build the query doc
# load serialised json
if len(req.message_query) > 0 and req.message_query[0].first == dc_srv.MongoQueryMsgRequest.JSON_QUERY:
obj_query = json.loads(req.message_query[0].second)
# else use the string pairs
else:
obj_query = dict((pair.first, pair.second) for pair in req.message_query)
# load serialised json for meta
if len(req.meta_query) > 0 and req.meta_query[0].first == dc_srv.MongoQueryMsgRequest.JSON_QUERY:
meta_query = json.loads(req.meta_query[0].second)
# prefix all keys with "_meta." to make it
for old_key in meta_query:
meta_query["_meta." + old_key] = meta_query.pop(old_key)
obj_query.update(meta_query)
# else use the string pairs
else:
obj_query.update(dict(("_meta." + pair.first, pair.second) for pair in 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.loginfo("query document: %s", obj_query)
# this is a list of entries in dict format including meta
entries = dc_util.query_message(collection, obj_query, req.single)
serialised_messages = ()
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), )
return [serialised_messages]
def insert(self, message, meta={}):
# assume meta is a dict, convert k/v to tuple pairs
meta_tuple = tuple(StringPair(k, v) for k, v in meta.iteritems())
serialised_msg = dc_util.serialise_message(message)
self.insert_srv(self.database, self.collection, serialised_msg, meta_tuple)
def insert(self, message, meta={}):
# assume meta is a dict, convert k/v to tuple pairs
meta_tuple = tuple(StringPair(k, v) for k, v in meta.iteritems())
serialised_msg = dc_util.serialise_message(message)
self.insert_srv(self.database, self.collection, serialised_msg,
meta_tuple)
