Program Listing for File database_loader.h
↰ Return to documentation for file (include/warehouse_ros/database_loader.h
)
// Copyright 2015 Fetch Robotics
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Fetch Robotics nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
/* Author: Connor Brew */
#ifndef WAREHOUSE_ROS_DATABASE_LOADER_
#define WAREHOUSE_ROS_DATABASE_LOADER_
#include <warehouse_ros/database_connection.h>
#include <pluginlib/class_loader.hpp>
namespace warehouse_ros
{
class DBConnectionStub : public DatabaseConnection
{
public:
bool setParams(const std::string& /*host*/, unsigned /*port*/, float /*timeout*/) override
{
return false;
}
bool setTimeout(float /*timeout*/) override
{
return false;
}
bool connect() override
{
return false;
}
bool isConnected() override
{
return false;
}
void dropDatabase(const std::string& /*db_name*/) override
{
throw warehouse_ros::DbConnectException("Database is stub");
}
std::string messageType(const std::string& /*db_name*/, const std::string& /*collection_name*/) override
{
throw warehouse_ros::DbConnectException("Database is stub");
}
protected:
typename MessageCollectionHelper::Ptr openCollectionHelper(const std::string& db_name,
const std::string& collection_name) override;
};
class DatabaseLoader
{
public:
DatabaseLoader(const rclcpp::Node::SharedPtr& node);
~DatabaseLoader(){};
typename DatabaseConnection::Ptr loadDatabase();
private:
rclcpp::Node::SharedPtr node_;
std::unique_ptr<pluginlib::ClassLoader<warehouse_ros::DatabaseConnection> > db_plugin_loader_;
};
} // namespace warehouse_ros
#endif