mongo_ros: mongo_ros: message_collection.h Source File

00001 /*
00002  * Copyright (c) 2008, 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  */
00030 
00039 #ifndef MONGO_ROS_MESSAGE_COLLECTION_H
00040 #define MONGO_ROS_MESSAGE_COLLECTION_H
00041 
00042 #include <mongo_ros/query_results.h>
00043 #include <ros/ros.h>
00044 
00045 namespace mongo_ros
00046 {
00047 
00051 template <class M>
00052 class MessageCollection
00053 {
00054 public:
00055 
00062   MessageCollection (const std::string& db_name,
00063                      const std::string& collection_name,
00064                      const std::string& db_host="",
00065                      const unsigned db_port=0);
00066 
00075   void insert (const M& msg, const Metadata& metadata = Metadata());
00076 
00081   typename QueryResults<M>::range_t
00082   queryResults (const mongo::BSONObj& query, bool metadata_only = false,
00083                 const std::string& sort_by = "", bool ascending=true) const;
00084 
00086   typename QueryResults<M>::range_t
00087   queryResults (const mongo::Query& query, bool metadata_only = false) const;
00088 
00091   std::vector<typename MessageWithMetadata<M>::ConstPtr >
00092   pullAllResults (const mongo::BSONObj& query, bool metadata_only = false,
00093                   const std::string& sort_by = "", bool ascending=true) const;
00094 
00095   
00099   typename MessageWithMetadata<M>::ConstPtr
00100   findOne (const Query& query, bool metadata_only = false) const;
00101 
00103   unsigned removeMessages (const mongo::BSONObj& query);
00104 
00107   MessageCollection& ensureIndex (const std::string& field);
00108   
00113   void modifyMetadata (const Query& q, const Metadata& m);
00114 
00116   unsigned count ();
00117 
00118 private:
00119 
00120   // Called by constructors
00121   void initialize (const std::string& db, const std::string& coll,
00122                    const std::string& host, unsigned port);
00123 
00124   const std::string ns_;
00125   boost::shared_ptr<mongo::DBClientConnection> conn_;
00126   boost::shared_ptr<mongo::GridFS> gfs_;
00127   ros::NodeHandle nh_;
00128   ros::Publisher insertion_pub_;
00129 };
00130 
00131 
00132 } // namespace
00133 
00134 #include "../../src/message_collection_impl.h"
00135 
00136 #endif // include guard