state_storage.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/warehouse/state_storage.hpp>
#include <moveit/utils/logger.hpp>
 
#include <utility>
 
const std::string moveit_warehouse::RobotStateStorage::DATABASE_NAME = "moveit_robot_states";
 
const std::string moveit_warehouse::RobotStateStorage::STATE_NAME = "state_id";
const std::string moveit_warehouse::RobotStateStorage::ROBOT_NAME = "robot_id";
 
using warehouse_ros::Metadata;
using warehouse_ros::Query;
 
moveit_warehouse::RobotStateStorage::RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : MoveItMessageStorage(std::move(conn)), logger_(moveit::getLogger("moveit.ros.warehouse_robot_state_storage"))
{
  createCollections();
}
 
void moveit_warehouse::RobotStateStorage::createCollections()
{
  state_collection_ = conn_->openCollectionPtr<moveit_msgs::msg::RobotState>(DATABASE_NAME, "robot_states");
}
 
void moveit_warehouse::RobotStateStorage::reset()
{
  state_collection_.reset();
  conn_->dropDatabase(DATABASE_NAME);
  createCollections();
}
 
void moveit_warehouse::RobotStateStorage::addRobotState(const moveit_msgs::msg::RobotState& msg,
                                                        const std::string& name, const std::string& robot)
{
  bool replace = false;
  if (hasRobotState(name, robot))
  {
    removeRobotState(name, robot);
    replace = true;
  }
  Metadata::Ptr metadata = state_collection_->createMetadata();
  metadata->append(STATE_NAME, name);
  metadata->append(ROBOT_NAME, robot);
  state_collection_->insert(msg, metadata);
  RCLCPP_DEBUG(logger_, "%s robot state '%s'", replace ? "Replaced" : "Added", name.c_str());
}
 
bool moveit_warehouse::RobotStateStorage::hasRobotState(const std::string& name, const std::string& robot) const
{
  Query::Ptr q = state_collection_->createQuery();
  q->append(STATE_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  std::vector<RobotStateWithMetadata> constr = state_collection_->queryList(q, true);
  return !constr.empty();
}
 
void moveit_warehouse::RobotStateStorage::getKnownRobotStates(const std::string& regex, std::vector<std::string>& names,
                                                              const std::string& robot) const
{
  getKnownRobotStates(names, robot);
  filterNames(regex, names);
}
 
void moveit_warehouse::RobotStateStorage::getKnownRobotStates(std::vector<std::string>& names,
                                                              const std::string& robot) const
{
  names.clear();
  Query::Ptr q = state_collection_->createQuery();
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  std::vector<RobotStateWithMetadata> constr = state_collection_->queryList(q, true, STATE_NAME, true);
  for (RobotStateWithMetadata& state : constr)
  {
    if (state->lookupField(STATE_NAME))
      names.push_back(state->lookupString(STATE_NAME));
  }
}
 
bool moveit_warehouse::RobotStateStorage::getRobotState(RobotStateWithMetadata& msg_m, const std::string& name,
                                                        const std::string& robot) const
{
  Query::Ptr q = state_collection_->createQuery();
  q->append(STATE_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  std::vector<RobotStateWithMetadata> constr = state_collection_->queryList(q, false);
  if (constr.empty())
  {
    return false;
  }
  else
  {
    msg_m = constr.front();
    return true;
  }
}
 
void moveit_warehouse::RobotStateStorage::renameRobotState(const std::string& old_name, const std::string& new_name,
                                                           const std::string& robot)
{
  Query::Ptr q = state_collection_->createQuery();
  q->append(STATE_NAME, old_name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  Metadata::Ptr m = state_collection_->createMetadata();
  m->append(STATE_NAME, new_name);
  state_collection_->modifyMetadata(q, m);
  RCLCPP_DEBUG(logger_, "Renamed robot state from '%s' to '%s'", old_name.c_str(), new_name.c_str());
}
 
void moveit_warehouse::RobotStateStorage::removeRobotState(const std::string& name, const std::string& robot)
{
  Query::Ptr q = state_collection_->createQuery();
  q->append(STATE_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  unsigned int rem = state_collection_->removeMessages(q);
  RCLCPP_DEBUG(logger_, "Removed %u RobotState messages (named '%s')", rem, name.c_str());
}