moveit_message_storage.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/warehouse/moveit_message_storage.h>
00038 #include <boost/regex.hpp>
00039 #include <ros/ros.h>
00040 
00041 moveit_warehouse::MoveItMessageStorage::MoveItMessageStorage(const std::string &host, const unsigned int port, double wait_seconds) :
00042   db_host_(host), db_port_(port), timeout_(wait_seconds)
00043 {
00044   // if we are using default values for initialization, attempt to use ROS params for initialization
00045   if (db_host_.empty() || db_port_ == 0)
00046   {
00047     ros::NodeHandle nh("~");
00048     // search for the warehouse_port parameter in the local name space of the node, and up the tree of namespaces;
00049     // if the desired param is not found, make a final attempt to look fro the param in the default namespace defined above
00050     if (db_port_ == 0)
00051     {
00052       std::string paramName;
00053       if (!nh.searchParam("warehouse_port", paramName))
00054         paramName = "warehouse_port";
00055       int param_port;
00056       if (nh.getParam(paramName, param_port))
00057         db_port_ = param_port;
00058     }
00059     if (db_host_.empty())
00060     {
00061       std::string paramName;
00062       if (!nh.searchParam("warehouse_host", paramName))
00063         paramName = "warehouse_host";
00064       std::string param_host;
00065       if (nh.getParam(paramName, param_host))
00066         db_host_ = param_host;
00067     }
00068   }
00069   ROS_DEBUG("Connecting to MongoDB on host '%s' port '%u'...", db_host_.c_str(), db_port_);
00070 }
00071 
00072 moveit_warehouse::MoveItMessageStorage::~MoveItMessageStorage()
00073 {
00074 }
00075 
00076 void moveit_warehouse::MoveItMessageStorage::drop(const std::string &db)
00077 {
00078   mongo_ros::dropDatabase(db, db_host_, db_port_, timeout_);
00079   ROS_DEBUG("Dropped database '%s'", db.c_str());
00080 }
00081 
00082 void moveit_warehouse::MoveItMessageStorage::filterNames(const std::string &regex, std::vector<std::string> &names) const
00083 {
00084   if (!regex.empty())
00085   {
00086     std::vector<std::string> fnames;
00087     boost::regex r(regex);
00088     for (std::size_t i = 0; i < names.size() ; ++i)
00089     {
00090       boost::cmatch match;
00091       if (boost::regex_match(names[i].c_str(), match, r))
00092         fnames.push_back(names[i]);
00093     }
00094     names.swap(fnames);
00095   }
00096 }


warehouse
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:43:45