warehouse_connector.cpp
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #include <sys/types.h>
00038 #include <signal.h>
00039 #include <unistd.h>
00040 #include <ros/ros.h>
00041 #include <moveit/warehouse/warehouse_connector.h>
00042 
00043 namespace moveit_warehouse
00044 {
00045 WarehouseConnector::WarehouseConnector(const std::string& dbexec) : dbexec_(dbexec), child_pid_(0)
00046 {
00047 }
00048 
00049 WarehouseConnector::~WarehouseConnector()
00050 {
00051   if (child_pid_ != 0)
00052     kill(child_pid_, SIGTERM);
00053 }
00054 
00055 bool WarehouseConnector::connectToDatabase(const std::string& dirname)
00056 {
00057   if (child_pid_ != 0)
00058     kill(child_pid_, SIGTERM);
00059 
00060   child_pid_ = fork();
00061   if (child_pid_ == -1)
00062   {
00063     ROS_ERROR("Error forking process.");
00064     child_pid_ = 0;
00065     return false;
00066   }
00067 
00068   if (child_pid_ == 0)
00069   {
00070     std::size_t exec_file_pos = dbexec_.find_last_of("/\\");
00071     if (exec_file_pos != std::string::npos)
00072     {
00073       char** argv = new char*[4];
00074       std::size_t exec_length = 1 + dbexec_.length() - exec_file_pos;
00075       argv[0] = new char[1 + exec_length];
00076       snprintf(argv[0], exec_length, "%s", dbexec_.substr(exec_file_pos + 1).c_str());
00077 
00078       argv[1] = new char[16];
00079       snprintf(argv[1], 15, "--dbpath");
00080 
00081       argv[2] = new char[1024];
00082       snprintf(argv[2], 1023, "%s", dirname.c_str());
00083 
00084       argv[3] = NULL;
00085 
00086       int code = execv(dbexec_.c_str(), argv);
00087       delete[] argv[0];
00088       delete[] argv[1];
00089       delete[] argv[2];
00090       delete[] argv;
00091       ROS_ERROR_STREAM("execv() returned " << code << ", errno=" << errno << " string errno = " << strerror(errno));
00092     }
00093     return false;
00094   }
00095   else
00096   {
00097     // sleep so mongod has time to come up
00098     ros::WallDuration(1.0).sleep();
00099   }
00100   return true;
00101 }
00102 }


warehouse
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:21:59