warehouse_connector.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: E. Gil Jones */

#include <mongo_ros/message_collection.h>
#include <sys/types.h>
#include <signal.h>
#include <unistd.h>
#include <moveit/warehouse/warehouse_connector.h>

namespace moveit_warehouse
{

WarehouseConnector::WarehouseConnector(const std::string &mongoexec) : mongoexec_(mongoexec), child_pid_(0)
{
}

WarehouseConnector::~WarehouseConnector()
{
  if (child_pid_ != 0)
    kill(child_pid_, SIGTERM);
}

bool WarehouseConnector::connectToDatabase(const std::string& dirname)
{
  if(child_pid_ != 0)
    kill(child_pid_, SIGTERM);

  child_pid_ = fork();
  if (child_pid_ == -1)
  {
    ROS_ERROR("Error forking process.");
    child_pid_ = 0;
    return false;
  }

  if (child_pid_ == 0)
  {
    std::size_t exec_file_pos = mongoexec_.find_last_of("/\\");
    if (exec_file_pos != std::string::npos)
    {
      char** argv = new char*[4];
      std::size_t exec_length = 1 + mongoexec_.length() - exec_file_pos;
      argv[0] = new char[1 + exec_length];
      snprintf(argv[0], exec_length, "%s", mongoexec_.substr(exec_file_pos + 1).c_str());

      argv[1] = new char[16];
      snprintf(argv[1], 15, "--dbpath");

      argv[2] = new char[1024];
      snprintf(argv[2], 1023, "%s", dirname.c_str());

      argv[3] = NULL;

      int code = execv(mongoexec_.c_str(), argv);
      delete[] argv[0];
      delete[] argv[1];
      delete[] argv[2];
      delete[] argv;
      ROS_ERROR_STREAM("execv() returned " << code << ", errno=" << errno << " string errno = " << strerror(errno));
    }
    return false;
  }
  else
  {
    //sleep so mongod has time to come up
    ros::WallDuration(1.0).sleep();
  }
  return true;
}

}