mongo_wrapper_ros.py

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#!/usr/bin/env python

from __future__ import print_function
import rospy
from subprocess import check_call, CalledProcessError
import sys
import os
import shutil


default_db_path = "/tmp/db"


def print_help_message():
    print(
        """
Usage: rosrun warehouse_ros_mongo mongo_wrapper_ros.py
Start the mongodb database server, configured using the following ROS parameters:

* parameters in parent namespace
  - warehouse_port: port used by db.  Defaults to 27017.
  - warehouse_host: doesn't directly affect server, but used by clients to know where the db is.

* parameters in parent namespace
  - db_path: where the db is stored on the filesystem.  Defaults to {0}.
  - overwrite: whether to overwrite existing database if it exists.  Defaults to false.
""".format(
            default_db_path
        )
    )


if "--help" in sys.argv:
    print_help_message()
    sys.exit()

rospy.init_node("mongodb")
path_param = rospy.get_param("~database_path", None)
if path_param is None:
    path_param = rospy.get_param("~db_path", default_db_path)
else:
    print('Parameter "database_path" is deprecated. Please use "db_path" instead.')
dbpath = os.path.expanduser(path_param)
overwrite = rospy.get_param("~overwrite", False)

if "--repair" in sys.argv:
    rospy.loginfo("Repairing database")
    lock_file = "{0}/mongod.lock".format(dbpath)
    if os.path.exists(lock_file):
        rospy.loginfo("  Removing lock file")
        os.remove(lock_file)
    check_call(["mongodb", "mongod", "--repair", "--dbpath", dbpath])
    rospy.loginfo("  Successfully repaired.")
    sys.exit(0)

# The defaults here should match the ones used by each client library
port = rospy.get_param("warehouse_port", 27017)
host = rospy.get_param("warehouse_host", "localhost")

if overwrite and os.path.exists(dbpath):
    rospy.loginfo("Removed existing db at %s", dbpath)
    shutil.rmtree(dbpath)

while not os.path.exists(dbpath):
    rospy.loginfo("{0} does not exist; creating it.".format(dbpath))
    try:
        os.makedirs(dbpath)
        break
    except OSError as e:
        if dbpath != default_db_path:
            rospy.logerr("{0}. Trying {1} instead.".format(str(e), default_db_path))
            dbpath = default_db_path
        else:
            rospy.logfatal(e)
            raise e

rospy.loginfo(
    "Starting mongodb with db location {0} listening on {2}:{1}".format(
        dbpath, port, host
    )
)

try:
    check_call("mongod --dbpath {} --port {}".format(dbpath, port).split())
except CalledProcessError as e:
    if e.returncode == 12:
        rospy.loginfo("Ignoring mongod's non-standard return code of 12")
    else:
        rospy.logerr("Mongo process exited with error code {0}".format(e.returncode))
except OSError as e:
    rospy.logerr("Execution failed: %s", e)