sync_db_name.py

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#!/usr/bin/env python

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# Copyright (c) 2008, Willow Garage, Inc.
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# Author: Bhaskara Marthi

# Node that generates a unique name for the collection namespace used in the
# world model and inserts some metadata into it.

import roslib
roslib.load_manifest('semanticmodel')

import rospy
import pymongo as pm
import time
import std_srvs.srv
import std_msgs.msg
import semanticmodel.srv as sms
import sys
import semanticmodel.db as sdb

# Look in the db 'runs' collection for the largest existing run id
# and create namespace with an id one larger
def update_collection_namespace():
    global COLLECTION_NAMESPACE
    global BAGFILE
    db = CONN[DB_NAME]
    next_id = sdb.generate_run_id(db)
    COLLECTION_NAMESPACE = "run{0}".format(next_id)
    while not rospy.is_shutdown():
        t = rospy.Time.now().to_sec()
        if t>0.0:
            rospy.loginfo("Setting run namespace to {0}".format(next_id))
            db.runs.insert({'id': next_id, 'bag_file': BAGFILE,
                         'creation_time': rospy.Time.now().to_sec()})
            break
        else:
            rospy.loginfo("Waiting till ros time is > 0")
            time.sleep(2.0)

def get_collection_namespace(req):
    return {'db_name': DB_NAME, 'collection_namespace': COLLECTION_NAMESPACE}
       

rospy.init_node('sync_db_name')

HOST = rospy.get_param('warehouse_host', 'bab.willowgarage.com')
PORT = rospy.get_param('warehouse_port', 27017)
DB_NAME = rospy.get_param('semantic_db_name', 'semantic_world_model')


rospy.loginfo("Starting up sync_db_name.  Expect db server at {0}:{1} and db name {2}".
    format(HOST, PORT, DB_NAME))
COLLECTION_NAMESPACE = None
CONN = None


if '--online' in sys.argv:
    BAGFILE = 'online_not_a_bag'
else:
    while not rospy.is_shutdown():
        try:
            BAGFILE = rospy.get_param('current_bagfile')
            break
        except:
            rospy.logwarn("Waiting for there to exist a parameter called current_bagfile")
        time.sleep(2.0)

rospy.loginfo("Recording bagfile name {0}".format(BAGFILE))


rospy.loginfo("Attempting to connect to db at {0}:{1}".
              format(HOST, PORT))

while not rospy.is_shutdown():
    try:
        CONN=pm.Connection(host=HOST, port=PORT)
        rospy.loginfo("Connected to db")
        break
    except Exception as e:
        rospy.logwarn("Failed to connect to MongoDB at {1}:{2}; retrying.  Exception was: {0}".
                      format(e, HOST, PORT))
        rospy.sleep(2.0)
        
update_collection_namespace()
get_name_srv = rospy.Service('get_collection_namespace', 
                             sms.GetCollectionNamespace, 
                             get_collection_namespace)
rospy.spin()