planning_scene_world_storage.cpp

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/* Author: Ioan Sucan */

#include <moveit/warehouse/planning_scene_world_storage.h>

const std::string moveit_warehouse::PlanningSceneWorldStorage::DATABASE_NAME = "moveit_planning_scene_worlds";
const std::string moveit_warehouse::PlanningSceneWorldStorage::PLANNING_SCENE_WORLD_ID_NAME = "world_id";

moveit_warehouse::PlanningSceneWorldStorage::PlanningSceneWorldStorage(const std::string& host, const unsigned int port,
                                                                       double wait_seconds)
  : MoveItMessageStorage(host, port, wait_seconds)
{
  createCollections();
  ROS_DEBUG("Connected to MongoDB '%s' on host '%s' port '%u'.", DATABASE_NAME.c_str(), db_host_.c_str(), db_port_);
}

void moveit_warehouse::PlanningSceneWorldStorage::createCollections()
{
  planning_scene_world_collection_.reset(new PlanningSceneWorldCollection::element_type(
      DATABASE_NAME, "planning_scene_worlds", db_host_, db_port_, timeout_));
}

void moveit_warehouse::PlanningSceneWorldStorage::reset()
{
  planning_scene_world_collection_.reset();
  MoveItMessageStorage::drop(DATABASE_NAME);
  createCollections();
}

void moveit_warehouse::PlanningSceneWorldStorage::addPlanningSceneWorld(const moveit_msgs::PlanningSceneWorld& msg,
                                                                        const std::string& name)
{
  bool replace = false;
  if (hasPlanningSceneWorld(name))
  {
    removePlanningSceneWorld(name);
    replace = true;
  }
  mongo_ros::Metadata metadata(PLANNING_SCENE_WORLD_ID_NAME, name);
  planning_scene_world_collection_->insert(msg, metadata);
  ROS_DEBUG("%s planning scene world '%s'", replace ? "Replaced" : "Added", name.c_str());
}

bool moveit_warehouse::PlanningSceneWorldStorage::hasPlanningSceneWorld(const std::string& name) const
{
  mongo_ros::Query q(PLANNING_SCENE_WORLD_ID_NAME, name);
  std::vector<PlanningSceneWorldWithMetadata> psw = planning_scene_world_collection_->pullAllResults(q, true);
  return !psw.empty();
}

void moveit_warehouse::PlanningSceneWorldStorage::getKnownPlanningSceneWorlds(const std::string& regex,
                                                                              std::vector<std::string>& names) const
{
  getKnownPlanningSceneWorlds(names);
  filterNames(regex, names);
}

void moveit_warehouse::PlanningSceneWorldStorage::getKnownPlanningSceneWorlds(std::vector<std::string>& names) const
{
  names.clear();
  mongo_ros::Query q;
  std::vector<PlanningSceneWorldWithMetadata> constr =
      planning_scene_world_collection_->pullAllResults(q, true, PLANNING_SCENE_WORLD_ID_NAME, true);
  for (std::size_t i = 0; i < constr.size(); ++i)
    if (constr[i]->metadata.hasField(PLANNING_SCENE_WORLD_ID_NAME.c_str()))
      names.push_back(constr[i]->lookupString(PLANNING_SCENE_WORLD_ID_NAME));
}

bool moveit_warehouse::PlanningSceneWorldStorage::getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m,
                                                                        const std::string& name) const
{
  mongo_ros::Query q(PLANNING_SCENE_WORLD_ID_NAME, name);
  std::vector<PlanningSceneWorldWithMetadata> psw = planning_scene_world_collection_->pullAllResults(q, false);
  if (psw.empty())
    return false;
  else
  {
    msg_m = psw.front();
    return true;
  }
}

void moveit_warehouse::PlanningSceneWorldStorage::renamePlanningSceneWorld(const std::string& old_name,
                                                                           const std::string& new_name)
{
  mongo_ros::Query q(PLANNING_SCENE_WORLD_ID_NAME, old_name);
  mongo_ros::Metadata m(PLANNING_SCENE_WORLD_ID_NAME, new_name);
  planning_scene_world_collection_->modifyMetadata(q, m);
  ROS_DEBUG("Renamed planning scene world from '%s' to '%s'", old_name.c_str(), new_name.c_str());
}

void moveit_warehouse::PlanningSceneWorldStorage::removePlanningSceneWorld(const std::string& name)
{
  mongo_ros::Query q(PLANNING_SCENE_WORLD_ID_NAME, name);
  unsigned int rem = planning_scene_world_collection_->removeMessages(q);
  ROS_DEBUG("Removed %u PlanningSceneWorld messages (named '%s')", rem, name.c_str());
}