00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, Fetch Robotics 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Connor Brew */ 00036 00037 #ifndef WAREHOUSE_ROS_DATABASE_LOADER_ 00038 #define WAREHOUSE_ROS_LOADER_ 00039 00040 #include <boost/scoped_ptr.hpp> 00041 #include <warehouse_ros/database_connection.h> 00042 #include <pluginlib/class_loader.h> 00043 00044 namespace warehouse_ros 00045 { 00046 00047 class DBConnectionStub : public DatabaseConnection 00048 { 00049 public: 00050 bool setParams(const std::string& host, unsigned port, float timeout) 00051 { 00052 return false; 00053 } 00054 bool setTimeout(float timeout) 00055 { 00056 return false; 00057 } 00058 bool connect() 00059 { 00060 return false; 00061 } 00062 bool isConnected() 00063 { 00064 return false; 00065 } 00066 void dropDatabase(const std::string& db_name) 00067 { 00068 throw warehouse_ros::DbConnectException("Database is stub"); 00069 } 00070 std::string messageType(const std::string& db_name, const std::string& collection_name) 00071 { 00072 throw warehouse_ros::DbConnectException("Database is stub"); 00073 } 00074 protected: 00075 typename MessageCollectionHelper::Ptr openCollectionHelper(const std::string& db_name, 00076 const std::string& collection_name) 00077 { 00078 } 00079 ; 00080 }; 00081 00083 class DatabaseLoader 00084 { 00085 public: 00087 DatabaseLoader(); 00088 00089 ~DatabaseLoader(); 00090 00092 void initialize(); 00093 00097 typename DatabaseConnection::Ptr loadDatabase(); 00098 00099 private: 00100 ros::NodeHandle nh_; 00101 boost::scoped_ptr<pluginlib::ClassLoader<warehouse_ros::DatabaseConnection> > db_plugin_loader_; 00102 }; 00103 00104 } 00105 00106 #endif