objects_database.cpp
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00034 
00035 // Author(s): Matei Ciocarlie
00036 
00037 #include "household_objects_database/objects_database.h"
00038 
00039 #include <database_interface/db_filters.h>
00040 
00041 #include "household_objects_database/database_task.h"
00042 
00043 using namespace database_interface;
00044 
00045 namespace household_objects_database {
00046 
00047 bool ObjectsDatabase::acquireNextTask(std::vector< boost::shared_ptr<DatabaseTask> > &task, 
00048                                       std::vector<std::string> accepted_types)
00049 {
00050   //first get and mark (atomically) the task id
00051   int id;
00052   if (accepted_types.empty())
00053   {
00054     std::vector< boost::shared_ptr<DatabaseTaskID> > id_vec;
00055     DatabaseTaskID id_example;
00056     if ( !getList<DatabaseTaskID>(id_vec, id_example, "") )
00057     {
00058       ROS_ERROR("Failed to get the id of the next task to be run");
00059       return false;
00060     }
00061     if (id_vec.empty())
00062     {
00063       //no task to be run
00064       return true;
00065     }
00066     if (id_vec.size() != 1)
00067     {
00068       ROS_ERROR("Next task acquisition returned more than one result");
00069       return false;
00070     }
00071     //get the actual task id
00072     id = id_vec[0]->id_.get();    
00073   }
00074   else
00075   {
00076     std::string function = "get_mark_next_dbase_task_of_type(ARRAY[";
00077     for(size_t i=0; i<accepted_types.size(); i++)
00078     {
00079       if (i != 0 ) function += ",";
00080       function += "'" + accepted_types[i] + "'";
00081     }
00082     function += "])";
00083     std::vector< boost::shared_ptr<DatabaseTaskIDTyped> > id_vec;
00084     DatabaseTaskIDTyped id_example(function);
00085     ROS_INFO_STREAM("Function call: " << function);
00086     if ( !getList<DatabaseTaskIDTyped>(id_vec, id_example, "") )
00087     {
00088       ROS_ERROR("Failed to get the id of the next task of given type to be run");
00089       ROS_ERROR_STREAM("Function call: " << function);
00090       return false;
00091     }
00092     if (id_vec.empty())
00093     {
00094       //no task to be run
00095       return true;
00096     }
00097     if (id_vec.size() != 1)
00098     {
00099       ROS_ERROR("Next task acquisition returned more than one result");
00100       return false;
00101     }
00102     //get the actual task id
00103     id = id_vec[0]->id_.get();    
00104   }
00105 
00106   std::stringstream idstr;
00107   idstr << id;
00108   std::string where_clause("dbase_task_id=" + idstr.str());
00109   //fill in the rest
00110   if (!getList<DatabaseTask>(task, where_clause) || task.size() != 1 )
00111   {
00112     ROS_ERROR("Acquire next task: failed to populate entry");
00113     return false;
00114   }
00115   return true;
00116 }
00117 
00118 }//namespace
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household_objects_database
Author(s): Matei Ciocarlie, except for source files individually marked otherwise
autogenerated on Fri Jan 25 2013 15:02:09