00001 #!/usr/bin/env python 00002 # Copyright (c) 2009, Willow Garage, Inc. 00003 # All rights reserved. 00004 # 00005 # Redistribution and use in source and binary forms, with or without 00006 # modification, are permitted provided that the following conditions are met: 00007 # 00008 # * Redistributions of source code must retain the above copyright 00009 # notice, this list of conditions and the following disclaimer. 00010 # * Redistributions in binary form must reproduce the above copyright 00011 # notice, this list of conditions and the following disclaimer in the 00012 # documentation and/or other materials provided with the distribution. 00013 # * Neither the name of the Willow Garage, Inc. nor the names of its 00014 # contributors may be used to endorse or promote products derived from 00015 # this software without specific prior written permission. 00016 # 00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 # POSSIBILITY OF SUCH DAMAGE. 00028 00029 ## %Tag(PYTHON_CLIENT)% 00030 00031 import roslib; roslib.load_manifest('warehouse') 00032 import rospy 00033 from std_msgs.msg import String 00034 from warehouse.srv import * 00035 from warehouse.msg import Condition 00036 from warehouse.exceptions import * 00037 00038 import warehouse 00039 00040 def insert_cb(msg): 00041 print "Data was inserted by {0}".format(msg.sender) 00042 00043 00044 rospy.init_node('warehouse_client') 00045 00046 # Create a client interface to the Warehouse 00047 wc = warehouse.Client() 00048 00049 # See if a database and collection exist 00050 (db_exists, collection_exists) = wc.has_collection("my_db", "my_collection") 00051 00052 if db_exists: 00053 print "Database[my_db], already exists" 00054 else: 00055 print "Database[my_db], does not exist" 00056 00057 if collection_exists: 00058 print "Collection[my_collection] in Database[my_db], already exists" 00059 else: 00060 print "Collection[my_collection] in Database[my_db], does not exist" 00061 00062 # Create a connection to a collection. This will create the collection if 00063 # it doesn't already exist 00064 try: 00065 collection = wc.setup_collection("my_db", "my_collection", String, ["data"]) 00066 except ClientException: 00067 rospy.logerr("Unable to create a connection to the database") 00068 00069 # Register a function callback to data insertion 00070 collection.subscribe_to_insertion(insert_cb) 00071 00072 print "Pushing data" 00073 # Push data into the database 00074 collection.push_data(String("Here")) 00075 00076 print "Querying" 00077 # Create a query, and get a list of the results 00078 conditions = [] 00079 conditions.append(Condition("data", Condition.EQUALS, ["Here"])) 00080 result = collection.query( conditions ) 00081 print "Query result: {0}".format(result) 00082 00083 # Drop our database if we are done with it 00084 wc.drop_db("my_db") 00085 00086 00087 ## %Tag(PYTHON_CLIENT)%