def resolve_scenario_yaml(scenario_file):
"""If the file doesn't exist, checks if it exists relative to the package.'"""
# Get the package path
pkg_root = get_package_root()
scenario_file = pathlib.Path(scenario_file)
if not scenario_file.exists() or not scenario_file.is_file():
if not scenario_file.is_absolute():
scenario_folder = pkg_root / "scenarios"
possible_paths = [
pkg_root /
scenario_file, # only scenarios/filename.yaml is passed
scenario_folder /
scenario_file, # only filename.yaml is passed
]
valid_paths = [p for p in possible_paths if p.is_file()]
if valid_paths:
if len(valid_paths) > 1:
raise IOError(
"Could not automatically resolve path '{}'. Multiple paths available: {}"
.format(
scenario_file, " ".join(
map(lambda x: "\n\t- " + str(x),
valid_paths))))
return valid_paths[0].resolve(
) # if only one of the paths is valid
elif scenario_folder.exists():
raise IOError(
"Scenario '{}' does not exist please provide a correct path, example paths: {}"
.format(
scenario_file, " ".join(
map(lambda x: "\n\t- " + str(x),
scenario_folder.glob("*.yaml")))))
return scenario_file # could not get a valid path and scenario folder not found
def __init__(self,
config=None,
collection="default",
uri=None,
db_name="topic_store",
verbose=False):
"""
Args:
config: Path to MongoDB config file that a URI can be inferred from
collection: The collection to manage
uri: URI overload, if passed will attempt to connect directly and config not used
"""
self.verbose = verbose
self.uri = uri
if self.uri is None:
if config in ["topic_store", "auto", "default"] or config is None:
config = get_package_root(
) / "config" / "default_db_config.yaml"
self.uri = self.uri_from_mongo_config(config)
self._log("Setting URI to '{}'".format(self.uri))
self.parser = MongoDBParser(
) # Adds support for unicode to python str etc
self.reverse_parser = MongoDBReverseParser(
) # Adds support for unicode to python str etc
self.name = db_name
self.collection_name = collection
self.client = pymongo.MongoClient(self.uri)
self._db = self.client[self.name]
self._fs = gridfs.GridFS(self._db, collection=self.collection_name)
self.collection = self._db[self.collection_name]
self._log("DB name: '{}', Collection name: '{}'".format(
self.name, self.collection_name))
def test_scenarios(self):
if not rospy.get_node_uri():
rospy.init_node("topic_store_tests")
scenario_file = get_package_root(
) / "scenarios" / "default_config.yaml"
scenario = ScenarioFileParser(scenario_file)
print("All scenario parser tests passed!")
def run_scenario():
rospy.init_node("scenario_runner_node", anonymous=True)
# Get the package path
pkg_root = get_package_root()
# Get parameters
stabilise_time = rospy.get_param('~stabilise_time', 0)
scenario_file = rospy.get_param('~scenario_file', str(pathlib.Path(pkg_root) / "scenarios/default_config.yaml"))
data_logger = ScenarioRunner(scenario_file, stabilise_time)
def __init__(self, debug=False):
if not debug:
raise NotImplementedError("Server is not yet implemented. Please call start_database.launch.")
import subprocess
import pathlib
import rospy
import os
pkg_root = get_package_root()
script_path = pkg_root / "docker/docker_compose_up_safe.sh"
db_default = pathlib.Path(os.path.expanduser("~/.ros/topic_store/database"))
rospy.on_shutdown(self._on_shutdown)
self.process = subprocess.Popen(['bash', script_path], env={"MONGO_DB_PATH": db_default})
def __init__(self,
config=None,
collection="default",
uri=None,
db_name=None,
verbose=False,
chunk_size=None,
use_grid_fs=False):
"""
Args:
config: Path to MongoDB config file that a URI can be inferred from
collection: The collection to manage
uri: URI overload, if passed will attempt to connect directly and config not used
"""
if db_name is None:
db_name = "topic_store"
self.verbose = verbose
self.uri = uri
if self.uri is None:
if config in ["topic_store", "auto", "default"] or config is None:
config = get_package_root(
) / "config" / "default_db_config.yaml"
self.uri = self.uri_from_mongo_config(config)
self._log("Setting URI to '{}'".format(self.uri))
self.parser = MongoDBParser(
) # Adds support for unicode to python str etc
self.reverse_parser = MongoDBReverseParser(
) # Adds support for unicode to python str etc
self.name = db_name
self.collection_name = collection
self.client = pymongo.MongoClient(self.uri)
self._db = self.client[self.name]
self._use_grid_fs = use_grid_fs
if self._use_grid_fs:
self._fs = gridfs.GridFS(self._db, collection=self.collection_name)
self._db[self.collection_name + "." + "chunks"].create_index(
[('files_id', pymongo.ASCENDING), ('n', pymongo.ASCENDING)],
unique=True)
self._db[self.collection_name + "." + "files"].create_index([
('filename', pymongo.ASCENDING),
('uploadDate', pymongo.ASCENDING)
])
self.chunk_size = 16000 * 1024 if chunk_size is None else chunk_size
self.collection = self._db[self.collection_name]
self._log("DB name: '{}', Collection name: '{}'".format(
self.name, self.collection_name))