trajectory_constraints_storage.cpp

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/* Author: Mario Prats, Ioan Sucan */
 
#include <moveit/warehouse/trajectory_constraints_storage.h>
#include <moveit/utils/logger.hpp>
 
#include <utility>
 
const std::string moveit_warehouse::TrajectoryConstraintsStorage::DATABASE_NAME = "moveit_trajectory_constraints";
 
const std::string moveit_warehouse::TrajectoryConstraintsStorage::CONSTRAINTS_ID_NAME = "constraints_id";
const std::string moveit_warehouse::TrajectoryConstraintsStorage::CONSTRAINTS_GROUP_NAME = "group_id";
const std::string moveit_warehouse::TrajectoryConstraintsStorage::ROBOT_NAME = "robot_id";
 
using warehouse_ros::Metadata;
using warehouse_ros::Query;
 
moveit_warehouse::TrajectoryConstraintsStorage::TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
  : MoveItMessageStorage(std::move(conn))
  , logger_(moveit::getLogger("moveit.ros.warehouse_trajectory_constraints_storage"))
{
  createCollections();
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::createCollections()
{
  constraints_collection_ =
      conn_->openCollectionPtr<moveit_msgs::msg::TrajectoryConstraints>(DATABASE_NAME, "trajectory_constraints");
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::reset()
{
  constraints_collection_.reset();
  conn_->dropDatabase(DATABASE_NAME);
  createCollections();
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::addTrajectoryConstraints(
    const moveit_msgs::msg::TrajectoryConstraints& msg, const std::string& name, const std::string& robot,
    const std::string& group)
{
  bool replace = false;
  if (hasTrajectoryConstraints(name, robot, group))
  {
    removeTrajectoryConstraints(name, robot, group);
    replace = true;
  }
  Metadata::Ptr metadata = constraints_collection_->createMetadata();
  metadata->append(CONSTRAINTS_ID_NAME, name);
  metadata->append(ROBOT_NAME, robot);
  metadata->append(CONSTRAINTS_GROUP_NAME, group);
  constraints_collection_->insert(msg, metadata);
  RCLCPP_DEBUG(logger_, "%s constraints '%s'", replace ? "Replaced" : "Added", name.c_str());
}
 
bool moveit_warehouse::TrajectoryConstraintsStorage::hasTrajectoryConstraints(const std::string& name,
                                                                              const std::string& robot,
                                                                              const std::string& group) const
{
  Query::Ptr q = constraints_collection_->createQuery();
  q->append(CONSTRAINTS_ID_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  if (!group.empty())
    q->append(CONSTRAINTS_GROUP_NAME, group);
  std::vector<TrajectoryConstraintsWithMetadata> constr = constraints_collection_->queryList(q, true);
  return !constr.empty();
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::getKnownTrajectoryConstraints(const std::string& regex,
                                                                                   std::vector<std::string>& names,
                                                                                   const std::string& robot,
                                                                                   const std::string& group) const
{
  getKnownTrajectoryConstraints(names, robot, group);
  filterNames(regex, names);
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::getKnownTrajectoryConstraints(std::vector<std::string>& names,
                                                                                   const std::string& robot,
                                                                                   const std::string& group) const
{
  names.clear();
  Query::Ptr q = constraints_collection_->createQuery();
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  if (!group.empty())
    q->append(CONSTRAINTS_GROUP_NAME, group);
  std::vector<TrajectoryConstraintsWithMetadata> constr =
      constraints_collection_->queryList(q, true, CONSTRAINTS_ID_NAME, true);
  for (TrajectoryConstraintsWithMetadata& traj_constraint : constr)
  {
    if (traj_constraint->lookupField(CONSTRAINTS_ID_NAME))
      names.push_back(traj_constraint->lookupString(CONSTRAINTS_ID_NAME));
  }
}
 
bool moveit_warehouse::TrajectoryConstraintsStorage::getTrajectoryConstraints(TrajectoryConstraintsWithMetadata& msg_m,
                                                                              const std::string& name,
                                                                              const std::string& robot,
                                                                              const std::string& group) const
{
  Query::Ptr q = constraints_collection_->createQuery();
  q->append(CONSTRAINTS_ID_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  if (!group.empty())
    q->append(CONSTRAINTS_GROUP_NAME, group);
  std::vector<TrajectoryConstraintsWithMetadata> constr = constraints_collection_->queryList(q, false);
  if (constr.empty())
  {
    return false;
  }
  else
  {
    msg_m = constr.back();
    return true;
  }
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::renameTrajectoryConstraints(const std::string& old_name,
                                                                                 const std::string& new_name,
                                                                                 const std::string& robot,
                                                                                 const std::string& group)
{
  Query::Ptr q = constraints_collection_->createQuery();
  q->append(CONSTRAINTS_ID_NAME, old_name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  if (!group.empty())
    q->append(CONSTRAINTS_GROUP_NAME, group);
  Metadata::Ptr m = constraints_collection_->createMetadata();
  m->append(CONSTRAINTS_ID_NAME, new_name);
  constraints_collection_->modifyMetadata(q, m);
  RCLCPP_DEBUG(logger_, "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
}
 
void moveit_warehouse::TrajectoryConstraintsStorage::removeTrajectoryConstraints(const std::string& name,
                                                                                 const std::string& robot,
                                                                                 const std::string& group)
{
  Query::Ptr q = constraints_collection_->createQuery();
  q->append(CONSTRAINTS_ID_NAME, name);
  if (!robot.empty())
    q->append(ROBOT_NAME, robot);
  if (!group.empty())
    q->append(CONSTRAINTS_GROUP_NAME, group);
  unsigned int rem = constraints_collection_->removeMessages(q);
  RCLCPP_DEBUG(logger_, "Removed %u TrajectoryConstraints messages (named '%s')", rem, name.c_str());
}