mongodb_log_pcl.cpp

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/***************************************************************************
 *  mongodb_log_pcl.cpp - MongoDB Logger for point cloud topics
 *
 *  Created: Mon Dec 13 15:05:37 2010
 *  Copyright  2010  Tim Niemueller [www.niemueller.de]
 *             2010  Carnegie Mellon University
 *             2010  Intel Labs Pittsburgh
 ****************************************************************************/
 
/*  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version. A runtime exception applies to
 *  this software (see LICENSE.GPL_WRE file mentioned below for details).
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU Library General Public License for more details.
 *
 *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
 */
 
#include <ros/ros.h>
#include <mongo/client/dbclient.h>
 
#include <sensor_msgs/PointCloud.h>
#include <unistd.h>
#include <cstring>
 
#include <mongodb_store/util.h>
 
using namespace mongo;
 
DBClientConnection *mongodb_conn;
std::string collection;
 
unsigned int in_counter;
unsigned int out_counter;
unsigned int qsize;
unsigned int drop_counter;
 
static pthread_mutex_t in_counter_mutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t out_counter_mutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t drop_counter_mutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t qsize_mutex = PTHREAD_MUTEX_INITIALIZER;
 
void msg_callback(const sensor_msgs::PointCloud::ConstPtr& msg)
{
  BSONObjBuilder document;
  BSONObjBuilder transform;
 
  
  const sensor_msgs::PointCloud& msg_in = *msg;
 
  Date_t stamp = msg_in.header.stamp.sec * 1000.0 + msg_in.header.stamp.nsec / 1000000.0;
  document.append("header", BSON("seq" << msg_in.header.seq
                                       << "stamp" << stamp
                                       << "frame_id" << msg_in.header.frame_id));
 
  BSONArrayBuilder pointb(document.subarrayStart("points"));
  // I can't believe it's encoded that inefficient. Someone should be sent to jail for that.
  std::vector<geometry_msgs::Point32>::const_iterator p;
  for (p = msg_in.points.begin(); p != msg_in.points.end(); ++p) {
    pointb.append(BSON(   "x" << p->x
                       << "y" << p->y
                       << "z" << p->z));
  }
  pointb.doneFast();
 
  BSONArrayBuilder channelsb(document.subarrayStart("channels"));
  BSONObjBuilder cb;
 
  std::vector<sensor_msgs::ChannelFloat32>::const_iterator c;
  for (c = msg_in.channels.begin(); c != msg_in.channels.end(); ++c) {
    cb.append("name", c->name);
 
    BSONArrayBuilder valuesb(cb.subarrayStart("values"));
    std::vector<float>::const_iterator v;
    for (v = c->values.begin(); v != c->values.end(); ++v) {
      valuesb.append(*v);
    }
    valuesb.doneFast();
 
    channelsb.append(cb.obj());
  }
  channelsb.doneFast();
 
  mongodb_store::add_meta_for_msg<sensor_msgs::PointCloud>(msg, document);
 
  mongodb_conn->insert(collection, document.obj());
 
  // If we'd get access to the message queue this could be more useful
  // https://code.ros.org/trac/ros/ticket/744
  pthread_mutex_lock(&in_counter_mutex);
  ++in_counter;
  pthread_mutex_unlock(&in_counter_mutex);
  pthread_mutex_lock(&out_counter_mutex);
  ++out_counter;
  pthread_mutex_unlock(&out_counter_mutex);
}
 
void print_count(const ros::TimerEvent &te)
{
  unsigned int l_in_counter, l_out_counter, l_drop_counter, l_qsize;
 
  pthread_mutex_lock(&in_counter_mutex);
  l_in_counter = in_counter; in_counter = 0;
  pthread_mutex_unlock(&in_counter_mutex);
 
  pthread_mutex_lock(&out_counter_mutex);
  l_out_counter = out_counter; out_counter = 0;
  pthread_mutex_unlock(&out_counter_mutex);
 
  pthread_mutex_lock(&drop_counter_mutex);
  l_drop_counter = drop_counter; drop_counter = 0;
  pthread_mutex_unlock(&drop_counter_mutex);
 
  pthread_mutex_lock(&qsize_mutex);
  l_qsize = qsize; qsize = 0;
  pthread_mutex_unlock(&qsize_mutex);
 
  printf("%u:%u:%u:%u\n", l_in_counter, l_out_counter, l_drop_counter, l_qsize);
  fflush(stdout);
}
 
 
int
main(int argc, char **argv)
{
  std::string topic = "", mongodb = "localhost", nodename = "";
  collection = "";
 
  in_counter = out_counter = drop_counter = qsize = 0;
 
  int c;
  while ((c = getopt(argc, argv, "t:m:n:c:")) != -1) {
    if ((c == '?') || (c == ':')) {
      printf("Usage: %s -t topic -m mongodb -n nodename -c collection\n", argv[0]);
      exit(-1);
    } else if (c == 't') {
      topic = optarg;
    } else if (c == 'm') {
      mongodb = optarg;
    } else if (c == 'n') {
      nodename = optarg;
    } else if (c == 'c') {
      collection = optarg;
    }
  }
 
  if (topic == "") {
    printf("No topic given.\n");
    exit(-2);
  } else if (nodename == "") {
    printf("No node name given.\n");
    exit(-2);
  }
 
  ros::init(argc, argv, nodename);
  ros::NodeHandle n;
 
  std::string errmsg;
  mongodb_conn = new DBClientConnection(/* auto reconnect*/ true);
  if (! mongodb_conn->connect(mongodb, errmsg)) {
    ROS_ERROR("Failed to connect to MongoDB: %s", errmsg.c_str());
    return -1;
  }
 
  ros::Subscriber sub = n.subscribe<sensor_msgs::PointCloud>(topic, 1000, msg_callback);
  ros::Timer count_print_timer = n.createTimer(ros::Duration(5, 0), print_count);
 
  ros::spin();
 
  delete mongodb_conn;
 
  return 0;
}