planning_scene_world_storage.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/warehouse/planning_scene_world_storage.h>
 
#include <utility>
 
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";
 
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.planning_scene_world_storage");
 
using warehouse_ros::Metadata;
using warehouse_ros::Query;
 
moveit_warehouse::PlanningSceneWorldStorage::PlanningSceneWorldStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : MoveItMessageStorage(std::move(conn))
{
  createCollections();
}
 
void moveit_warehouse::PlanningSceneWorldStorage::createCollections()
{
  planning_scene_world_collection_ =
      conn_->openCollectionPtr<moveit_msgs::msg::PlanningSceneWorld>(DATABASE_NAME, "planning_scene_worlds");
}
 
void moveit_warehouse::PlanningSceneWorldStorage::reset()
{
  planning_scene_world_collection_.reset();
  conn_->dropDatabase(DATABASE_NAME);
  createCollections();
}
 
void moveit_warehouse::PlanningSceneWorldStorage::addPlanningSceneWorld(const moveit_msgs::msg::PlanningSceneWorld& msg,
                                                                        const std::string& name)
{
  bool replace = false;
  if (hasPlanningSceneWorld(name))
  {
    removePlanningSceneWorld(name);
    replace = true;
  }
  Metadata::Ptr metadata = planning_scene_world_collection_->createMetadata();
  metadata->append(PLANNING_SCENE_WORLD_ID_NAME, name);
  planning_scene_world_collection_->insert(msg, metadata);
  RCLCPP_DEBUG(LOGGER, "%s planning scene world '%s'", replace ? "Replaced" : "Added", name.c_str());
}
 
bool moveit_warehouse::PlanningSceneWorldStorage::hasPlanningSceneWorld(const std::string& name) const
{
  Query::Ptr q = planning_scene_world_collection_->createQuery();
  q->append(PLANNING_SCENE_WORLD_ID_NAME, name);
  std::vector<PlanningSceneWorldWithMetadata> psw = planning_scene_world_collection_->queryList(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();
  Query::Ptr q = planning_scene_world_collection_->createQuery();
  std::vector<PlanningSceneWorldWithMetadata> planning_scene_worlds =
      planning_scene_world_collection_->queryList(q, true, PLANNING_SCENE_WORLD_ID_NAME, true);
  for (PlanningSceneWorldWithMetadata& planning_scene_world : planning_scene_worlds)
    if (planning_scene_world->lookupField(PLANNING_SCENE_WORLD_ID_NAME))
      names.push_back(planning_scene_world->lookupString(PLANNING_SCENE_WORLD_ID_NAME));
}
 
bool moveit_warehouse::PlanningSceneWorldStorage::getPlanningSceneWorld(PlanningSceneWorldWithMetadata& msg_m,
                                                                        const std::string& name) const
{
  Query::Ptr q = planning_scene_world_collection_->createQuery();
  q->append(PLANNING_SCENE_WORLD_ID_NAME, name);
  std::vector<PlanningSceneWorldWithMetadata> psw = planning_scene_world_collection_->queryList(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)
{
  Query::Ptr q = planning_scene_world_collection_->createQuery();
  q->append(PLANNING_SCENE_WORLD_ID_NAME, old_name);
  Metadata::Ptr m = planning_scene_world_collection_->createMetadata();
  m->append(PLANNING_SCENE_WORLD_ID_NAME, new_name);
  planning_scene_world_collection_->modifyMetadata(q, m);
  RCLCPP_DEBUG(LOGGER, "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)
{
  Query::Ptr q = planning_scene_world_collection_->createQuery();
  q->append(PLANNING_SCENE_WORLD_ID_NAME, name);
  unsigned int rem = planning_scene_world_collection_->removeMessages(q);
  RCLCPP_DEBUG(LOGGER, "Removed %u PlanningSceneWorld messages (named '%s')", rem, name.c_str());
}