message_collection.cpp

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/*
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#include <std_msgs/String.h>
#include <warehouse_ros_mongo/message_collection.h>
#include <boost/foreach.hpp>
#ifdef WAREHOUSE_ROS_MONGO_HAVE_MONGO_VERSION_H
#include <mongo/version.h>
#endif

namespace warehouse_ros_mongo
{
using std::string;

MongoMessageCollection::MongoMessageCollection(const std::shared_ptr<mongo::DBClientConnection>& conn, const string& db,
                                               const string& coll)
  : conn_(conn), gfs_(new mongo::GridFS(*conn, db)), ns_(db + "." + coll), db_(db), coll_(coll)
{
}

bool MongoMessageCollection::initialize(const std::string& datatype, const std::string& md5)
{
  ensureIndex("creation_time");

  // Add to the metatable
  const string meta_ns = db_ + ".ros_message_collections";
  if (!conn_->count(meta_ns, BSON("name" << coll_)))
  {
    ROS_DEBUG_NAMED("create_collection", "Inserting info for %s into metatable", coll_.c_str());
    conn_->insert(meta_ns, BSON("name" << coll_ << "type" << datatype << "md5sum" << md5));
  }
  else if (!conn_->count(meta_ns, BSON("name" << coll_ << "md5sum" << md5)))
  {
    ROS_ERROR("The md5 sum for message %s changed to %s. Only reading metadata.", datatype.c_str(), md5.c_str());
    return false;
  }
  return true;
}

void MongoMessageCollection::ensureIndex(const string& field)
{
#if (MONGOCLIENT_VERSION_MAJOR >= 1)
  conn_->createIndex(ns_, BSON(field << 1));
#else
  conn_->ensureIndex(ns_, BSON(field << 1));
#endif
}

void MongoMessageCollection::insert(char* msg, size_t msg_size, Metadata::ConstPtr metadata)
{
  mongo::BSONObj bson = downcastMetadata(metadata);
  mongo::OID id;
  bson["_id"].Val(id);

  // Store in message in grid fs
  mongo::BSONObj file_obj = gfs_->storeFile(msg, msg_size, id.toString());

  // Add blob id to metadata and store it in the message collection
  mongo::BSONObjBuilder builder;
  builder.appendElements(bson);
  mongo::OID blob_id;
  file_obj["_id"].Val(blob_id);
  builder.append("blob_id", blob_id);
  mongo::BSONObj entry = builder.obj();
  ROS_DEBUG_NAMED("insert", "Inserting %s into %s", entry.toString().c_str(), ns_.c_str());
  conn_->insert(ns_, entry);
}

ResultIteratorHelper::Ptr MongoMessageCollection::query(Query::ConstPtr query, const string& sort_by,
                                                        bool ascending) const
{
  mongo::Query mquery(downcastQuery(query));
  if (!sort_by.empty())
    mquery.sort(sort_by, ascending ? 1 : -1);
  ROS_DEBUG_NAMED("query", "Sending query %s to %s", mquery.toString().c_str(), ns_.c_str());
  return typename ResultIteratorHelper::Ptr(new MongoResultIterator(conn_, gfs_, ns_, mquery));
}

void MongoMessageCollection::listMetadata(mongo::Query& mquery, std::vector<mongo::BSONObj>& metas)
{
  MongoResultIterator iter(conn_, gfs_, ns_, mquery);
  while (iter.hasData())
  {
    metas.push_back(iter.metadataRaw());
    iter.next();
  }
}

unsigned MongoMessageCollection::removeMessages(Query::ConstPtr query)
{
  mongo::Query mquery(downcastQuery(query));

  std::vector<mongo::BSONObj> metas;
  listMetadata(mquery, metas);

  // Remove messages from db
  conn_->remove(ns_, mquery);

  unsigned num_removed = 0;
  // Also remove the raw messages from gridfs
  for (const mongo::BSONObj& meta : metas)
  {
    mongo::OID id;
    meta["blob_id"].Val(id);
    gfs_->removeFile(id.toString());
    ++num_removed;
  }
  return num_removed;
}

void MongoMessageCollection::modifyMetadata(Query::ConstPtr q, Metadata::ConstPtr m)
{
  mongo::BSONObj bson = downcastMetadata(m);
  mongo::Query query(downcastQuery(q));

  std::vector<mongo::BSONObj> metas;
  listMetadata(query, metas);
  if (metas.empty())
    throw warehouse_ros::NoMatchingMessageException(coll_);
  mongo::BSONObj orig = metas.front();
  mongo::BSONObjBuilder new_meta_builder;

  std::set<std::string> fields;
  bson.getFieldNames(fields);

  BOOST_FOREACH (const string& f, fields)
  {
    if ((f != "_id") && (f != "creation_time"))
      new_meta_builder.append(BSON("$set" << BSON(f << bson.getField(f))).getField("$set"));
  }

  mongo::BSONObj new_meta = new_meta_builder.obj().copy();
  conn_->update(ns_, query, new_meta);
}

unsigned MongoMessageCollection::count()
{
  return conn_->count(ns_);
}

string MongoMessageCollection::collectionName() const
{
  return coll_;
}

}  // namespace warehouse_ros_mongo