objects_database.cpp

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// Author(s): Matei Ciocarlie

#include "household_objects_database/objects_database.h"

#include <database_interface/db_filters.h>

#include "household_objects_database/database_task.h"

using namespace database_interface;

namespace household_objects_database {

bool ObjectsDatabase::acquireNextTask(std::vector< boost::shared_ptr<DatabaseTask> > &task, 
                                      std::vector<std::string> accepted_types)
{
  //first get and mark (atomically) the task id
  int id;
  if (accepted_types.empty())
  {
    std::vector< boost::shared_ptr<DatabaseTaskID> > id_vec;
    DatabaseTaskID id_example;
    if ( !getList<DatabaseTaskID>(id_vec, id_example, "") )
    {
      ROS_ERROR("Failed to get the id of the next task to be run");
      return false;
    }
    if (id_vec.empty())
    {
      //no task to be run
      return true;
    }
    if (id_vec.size() != 1)
    {
      ROS_ERROR("Next task acquisition returned more than one result");
      return false;
    }
    //get the actual task id
    id = id_vec[0]->id_.get();    
  }
  else
  {
    std::string function = "get_mark_next_dbase_task_of_type(ARRAY[";
    for(size_t i=0; i<accepted_types.size(); i++)
    {
      if (i != 0 ) function += ",";
      function += "'" + accepted_types[i] + "'";
    }
    function += "])";
    std::vector< boost::shared_ptr<DatabaseTaskIDTyped> > id_vec;
    DatabaseTaskIDTyped id_example(function);
    ROS_INFO_STREAM("Function call: " << function);
    if ( !getList<DatabaseTaskIDTyped>(id_vec, id_example, "") )
    {
      ROS_ERROR("Failed to get the id of the next task of given type to be run");
      ROS_ERROR_STREAM("Function call: " << function);
      return false;
    }
    if (id_vec.empty())
    {
      //no task to be run
      return true;
    }
    if (id_vec.size() != 1)
    {
      ROS_ERROR("Next task acquisition returned more than one result");
      return false;
    }
    //get the actual task id
    id = id_vec[0]->id_.get();    
  }

  std::stringstream idstr;
  idstr << id;
  std::string where_clause("dbase_task_id=" + idstr.str());
  //fill in the rest
  if (!getList<DatabaseTask>(task, where_clause) || task.size() != 1 )
  {
    ROS_ERROR("Acquire next task: failed to populate entry");
    return false;
  }
  return true;
}

}//namespace