Client.h

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#ifndef RAIL_PICK_AND_PLACE_GRASPDB_CLIENT_H_
#define RAIL_PICK_AND_PLACE_GRASPDB_CLIENT_H_

// graspdb
#include "GraspDemonstration.h"
#include "GraspModel.h"

// ROS
#include <sensor_msgs/PointCloud2.h>

// PostgreSQL
#include <pqxx/pqxx>

// C++ Standard Library
#include <string>

namespace rail
{
namespace pick_and_place
{
namespace graspdb
{

class Client
{
public:
  static const unsigned int DEFAULT_PORT = 5432;

  Client(const Client &c);

  Client(const std::string &host, const uint16_t port, const std::string &user, const std::string &password,
         const std::string &db);

  virtual ~Client();

  uint16_t getPort() const;

  const std::string &getHost() const;

  const std::string &getUser() const;

  const std::string &getPassword() const;

  const std::string &getDatabase() const;

  bool connected() const;

  bool connect();

  void disconnect();

  bool loadGraspDemonstration(uint32_t id, GraspDemonstration &gd) const;

  bool loadGraspDemonstrations(std::vector<GraspDemonstration> &gds) const;

  bool loadGraspDemonstrationsByObjectName(const std::string &object_name, std::vector<GraspDemonstration> &gds) const;

  bool loadGrasp(uint32_t id, Grasp &grasp) const;

  bool loadGraspByGraspModelID(const uint32_t grasp_model_id, std::vector<Grasp> &grasps) const;

  bool loadGraspModel(uint32_t id, GraspModel &gm) const;

  bool loadGraspModels(std::vector<GraspModel> &gms) const;

  bool loadGraspModelsByObjectName(const std::string &object_name, std::vector<GraspModel> &gms) const;

  bool getUniqueGraspDemonstrationObjectNames(std::vector<std::string> &names) const;

  bool getUniqueGraspModelObjectNames(std::vector<std::string> &names) const;

  bool addGrasp(Grasp &graps) const;

  bool addGraspDemonstration(GraspDemonstration &gd) const;

  bool addGraspModel(GraspModel &gm) const;

  void deleteGrasp(uint32_t id) const;

  void deleteGraspDemonstration(uint32_t id) const;

  void deleteGraspModel(uint32_t id) const;

private:
  void checkAPIVersion() const;

  void createTables() const;

  bool doesTypeExist(const std::string &type) const;

  bool getStringArrayFromPrepared(const std::string &prepared_name, const std::string &column_name,
                                  std::vector<std::string> &strings) const;

  std::string toSQL(const Pose &p) const;

  std::string toSQL(const Position &p) const;

  std::string toSQL(const Orientation &o) const;

  sensor_msgs::PointCloud2 extractPointCloud2FromBinaryString(const pqxx::binarystring &bs) const;

  sensor_msgs::Image extractImageFromBinaryString(const pqxx::binarystring &bs) const;

  std::vector<double> extractArrayFromString(std::string &array) const;

  GraspDemonstration extractGraspDemonstrationFromTuple(const pqxx::result::tuple &tuple) const;

  Grasp extractGraspFromTuple(const pqxx::result::tuple &tuple) const;

  GraspModel extractGraspModelFromTuple(const pqxx::result::tuple &tuple) const;

  time_t extractTimeFromString(const std::string &str) const;

// check API versions
#if PQXX_VERSION_MAJOR >= 4
/* Only pqxx 4.0.0 or greater support insert with binary strings */

  pqxx::binarystring toBinaryString(const sensor_msgs::PointCloud2 &pc) const;

  pqxx::binarystring toBinaryString(const sensor_msgs::Image &image) const;

#endif

  std::string host_, user_, password_, db_;
  uint16_t port_;
  pqxx::connection *connection_;
};

}
}
}

#endif