database_loader.h

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/* Author: Connor Brew */
 
#ifndef WAREHOUSE_ROS_DATABASE_LOADER_
#define WAREHOUSE_ROS_DATABASE_LOADER_
 
#include <boost/scoped_ptr.hpp>
#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();
 
  ~DatabaseLoader();
 
  void initialize();
 
  typename DatabaseConnection::Ptr loadDatabase();
 
private:
  ros::NodeHandle nh_;
  boost::scoped_ptr<pluginlib::ClassLoader<warehouse_ros::DatabaseConnection> > db_plugin_loader_;
};
}  // namespace warehouse_ros
 
#endif