warehouse_connector.cpp
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #include <mongo_ros/message_collection.h>
00038 #include <sys/types.h>
00039 #include <signal.h>
00040 #include <unistd.h>
00041 #include <moveit/warehouse/warehouse_connector.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 
00046 WarehouseConnector::WarehouseConnector(const std::string &mongoexec) : mongoexec_(mongoexec), child_pid_(0)
00047 {
00048 }
00049 
00050 WarehouseConnector::~WarehouseConnector()
00051 {
00052   if (child_pid_ != 0)
00053     kill(child_pid_, SIGTERM);
00054 }
00055 
00056 bool WarehouseConnector::connectToDatabase(const std::string& dirname)
00057 {
00058   if(child_pid_ != 0)
00059     kill(child_pid_, SIGTERM);
00060 
00061   child_pid_ = fork();
00062   if (child_pid_ == -1)
00063   {
00064     ROS_ERROR("Error forking process.");
00065     child_pid_ = 0;
00066     return false;
00067   }
00068 
00069   if (child_pid_ == 0)
00070   {
00071     std::size_t exec_file_pos = mongoexec_.find_last_of("/\\");
00072     if (exec_file_pos != std::string::npos)
00073     {
00074       char** argv = new char*[4];
00075       std::size_t exec_length = 1 + mongoexec_.length() - exec_file_pos;
00076       argv[0] = new char[1 + exec_length];
00077       snprintf(argv[0], exec_length, "%s", mongoexec_.substr(exec_file_pos + 1).c_str());
00078 
00079       argv[1] = new char[16];
00080       snprintf(argv[1], 15, "--dbpath");
00081 
00082       argv[2] = new char[1024];
00083       snprintf(argv[2], 1023, "%s", dirname.c_str());
00084 
00085       argv[3] = NULL;
00086 
00087       int code = execv(mongoexec_.c_str(), argv);
00088       delete[] argv[0];
00089       delete[] argv[1];
00090       delete[] argv[2];
00091       delete[] argv;
00092       ROS_ERROR_STREAM("execv() returned " << code << ", errno=" << errno << " string errno = " << strerror(errno));
00093     }
00094     return false;
00095   }
00096   else
00097   {
00098     //sleep so mongod has time to come up
00099     ros::WallDuration(1.0).sleep();
00100   }
00101   return true;
00102 }
00103 
00104 }


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:43:45