Python MessageStoreProxy.update_id方法代码示例

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
    def add_tag_cb(self, msg):
        #rospy.loginfo('Adding Tag '+msg.tag+' to '+str(msg.node))
        succeded = True
        for j in msg.node:
            
            msg_store = MessageStoreProxy(collection='topological_maps')
            query = {"name" : j, "pointset": self.nodes.name}
            query_meta = {}
            query_meta["pointset"] = self.nodes.name
            query_meta["map"] = self.nodes.map
    
            #print query, query_meta
            available = msg_store.query(strands_navigation_msgs.msg.TopologicalNode._type, query, query_meta)
            #print len(available)
            for i in available:
                msgid= i[1]['_id']
                if 'tag' in i[1]:
                    if not msg.tag in i[1]['tag']:
                        i[1]['tag'].append(msg.tag)
                else:
                    a=[]
                    a.append(msg.tag)
                    i[1]['tag']=a
                meta_out = str(i[1])
                
                msg_store.update_id(msgid, i[0], i[1], upsert = False)
                #print trstr
            if len(available) == 0:
                 succeded = False

        return succeded, meta_out

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
 def rm_tag_cb(self, msg):
     #rospy.loginfo('Adding Tag '+msg.tag+' to '+str(msg.node))
     succeded = True
     for j in msg.node:
         
         msg_store = MessageStoreProxy(collection='topological_maps')
         query = {"name" : j, "pointset": self.nodes.name}
         query_meta = {}
         query_meta["pointset"] = self.nodes.name
         query_meta["map"] = self.nodes.map
 
         #print query, query_meta
         available = msg_store.query(strands_navigation_msgs.msg.TopologicalNode._type, query, query_meta)
         #print len(available)
         succeded = False
         for i in available:
             msgid= i[1]['_id']
             if 'tag' in i[1]:
                 if msg.tag in i[1]['tag']:
                     print 'removing tag'
                     i[1]['tag'].remove(msg.tag)
                     print 'new list of tags'
                     print i[1]['tag']
                     msg_store.update_id(msgid, i[0], i[1], upsert = False)
                     succeded = True
             meta_out = str(i[1])
             
     return succeded, meta_out

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
def add_localise_by_topic(tmap, node, json_str):
    #print req
    #data = json.loads(req.content)
    #print data

    msg_store = MessageStoreProxy(collection='topological_maps')
    query = {"name" : node, "pointset": tmap}
    query_meta = {}
    #query_meta["pointset"] = tmap
    #query_meta["map"] = self.nodes.map

    #print query, query_meta
    available = msg_store.query(strands_navigation_msgs.msg.TopologicalNode._type, query, query_meta)
    #print len(available)
    if len(available) != 1:
         #succeded = False
         print 'there are no nodes or more than 1 with that name'
    else:
        #succeded = True
        for i in available:
            if not i[0].localise_by_topic:
                msgid= i[1]['_id']
                i[0].localise_by_topic=json_str
                #print i[0]
                print "Updating %s--%s" %(i[0].pointset, i[0].name)
                msg_store.update_id(msgid, i[0], i[1], upsert = False)

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
    def add_content_cb(self, req):
        #print req
        data = json.loads(req.content)
        #print data

        msg_store = MessageStoreProxy(collection='topological_maps')
        query = {"name" : req.node, "pointset": self.nodes.name}
        query_meta = {}
        query_meta["pointset"] = self.nodes.name
        query_meta["map"] = self.nodes.map

        #print query, query_meta
        available = msg_store.query(strands_navigation_msgs.msg.TopologicalNode._type, query, query_meta)
        #print len(available)
        if len(available) != 1:
             succeded = False
             print 'there are no nodes or more than 1 with that name'
        else:
            succeded = True
            for i in available:
                msgid= i[1]['_id']
                if 'contains' in i[1]:
                    if type(data) is list :
                        for j in data:
                            if 'category' in j and 'name' in j :
                                i[1]['contains'].append(j)
                    elif type(data) is dict :
                        if 'category' in data and 'name' in data :
                            i[1]['contains'].append(data)
                else:
                    a=[]
                    if type(data) is list :
                        for j in data:
                            if 'category' in j and 'name' in j :
                                a.append(j)
                    elif type(data) is dict :
                        if 'category' in data and 'name' in data :
                            a.append(data)
                    i[1]['contains']=a
                meta_out = str(i[1])
                print "Updating %s--%s" %(i[0].pointset, i[0].name)
                msg_store.update_id(msgid, i[0], i[1], upsert = False)

        return succeded, meta_out

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
def check_sanity(client):
    msg_store = MessageStoreProxy(collection='topological_maps')
    db=client.message_store
    collection=db["topological_maps"]
    available = collection.find().distinct("_meta.pointset")
    print available
    
    for point_set in available:
        #get one message
        #search = {"_meta.pointset": pointset}
        query_meta = {}
        query_meta["pointset"] = point_set
              
        message_list = msg_store.query(TopologicalNode._type, {}, query_meta)
    
        #points = strands_navigation_msgs.msg.TopologicalMap()
        #points.name = point_set
        #points.map = point_set
        #points.pointset = point_set
        #string last_updated
        eids = []
        for i in message_list:
            update = False
            print i[0].pointset, i[0].name, i[1]['_id']
            if i[0].edges:
                for j in i[0].edges :
                    if j.edge_id == '':
                        update = True
                        print 'needs edge id'
                        j.edge_id =  get_edge_id(i[0].name, j.node, eids)
                        print 'new edge_id %s' %j.edge_id
                    eids.append(j.edge_id)
                    if j.top_vel <= 0.1 :
                        update = True
                        print 'needs top vel'
                        j.top_vel = 0.55
                    if j.map_2d == '':
                        update = True
                        print 'needs map_2d'
                        j.map_2d = i[0].map
            if update:
                msg_store.update_id(i[1]['_id'], i[0], i[1], upsert = False)                

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]

#.........这里部分代码省略.........

        # geospatial store
        # delete old message
        old_msg = self._soma_obj_msg[soma_id]
        res = self._gs_store.find_one({'soma_roi_id': roi,
                                       'soma_map': self.soma_map,
                                       'soma_config': self.soma_conf})
        if res:
            _gs_id = res['_id']
            self._gs_store.remove(_gs_id)
            #rospy.loginfo("GS Store: deleted roi")

        # add new object to geospatial store
        geo_json = self.geo_json_from_soma_obj(old_msg)
        if geo_json:
            try:
                self._gs_store.insert(geo_json)
                rospy.loginfo("GS Store: updated roi (%s %s)" % (old_msg.type, old_msg.roi_id) )
            except:
                rospy.logerr("The polygon of %s %s is malformed (self-intersecting) => Please update geometry." % (old_msg.type, old_msg.roi_id))
    
        
    def update_object(self, feedback):
        rospy.loginfo("Updated marker: %s", feedback.marker_name)

        _id = self._soma_obj_ids[feedback.marker_name]
        msg = self._soma_obj_msg[feedback.marker_name]

        new_msg = copy.deepcopy(msg)
        new_msg.pose = feedback.pose

        self._soma_obj_pose[feedback.marker_name] = feedback.pose
        
        self._msg_store.update_id(_id, new_msg)

        # geospatial store
        # delete old message
        res = self._gs_store.find_one({'soma_roi_id': new_msg.roi_id,
                                       'soma_map': self.soma_map,
                                       'soma_config': self.soma_conf})
        if res:
            _gs_id = res['_id']
            self._gs_store.remove(_gs_id)
            #rospy.loginfo("GS Store: deleted roi")            

        # add new object to geospatial store
        geo_json = self.geo_json_from_soma_obj(new_msg)
        if geo_json:
            try:
                self._gs_store.insert(geo_json)
                rospy.loginfo("GS Store: updated roi (%s %s)" % (new_msg.type, new_msg.roi_id) )
            except:
                rospy.logerr("The polygon of %s %s is malformed (self-intersecting) => Please update geometry." % (new_msg.type, new_msg.roi_id))  

    def create_object_marker(self, soma_obj, roi, soma_type, pose):
        # create an interactive marker for our server
        int_marker = InteractiveMarker()
        int_marker.header.frame_id = "map"
        int_marker.name = soma_obj
        int_marker.description = soma_type + ' (' + roi +  ')'
        int_marker.pose = pose
        int_marker.pose.position.z = 0.01
        
        marker = Marker()
        marker.type = Marker.SPHERE
        marker.scale.x = 0.25

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]

#.........这里部分代码省略.........
        geo_json['loc'] = {'type': 'Point',
                           'coordinates': self._gs_store.coords_to_lnglat(soma_obj.pose.position.x,
                                                                          soma_obj.pose.position.y)}
        return geo_json

    def delete_object(self, soma_id):

        # geospatial store
        res = self._gs_store.find_one({'soma_id': soma_id,
                                       'soma_map': self.soma_map,
                                       'soma_config': self.soma_conf})
        if res:
            _gs_id = res['_id']
            self._gs_store.remove(_gs_id)
            print "GS Store: deleted obj"
                        

        # message store
        _id = self._soma_obj_ids[str(soma_id)]
        self._msg_store.delete(str(_id))
        
        self._server.erase(soma_id)
        self._server.applyChanges()
        
    def update_object(self, feedback):
        print "Updated marker " + feedback.marker_name

        _id = self._soma_obj_ids[feedback.marker_name]
        msg = self._soma_obj_msg[feedback.marker_name]

        new_msg = copy.deepcopy(msg)
        new_msg.pose = feedback.pose

        self._msg_store.update_id(_id, new_msg)

        # geospatial store
        # delete old message
        res = self._gs_store.find_one({'soma_id': new_msg.id,
                                       'soma_map': self.soma_map,
                                       'soma_config': self.soma_conf})
        if res:
            _gs_id = res['_id']
            self._gs_store.remove(_gs_id)
            print "GS Store: deleted obj"            

        # add new object to geospatial store
        self._gs_store.insert(self.geo_json_from_soma_obj(new_msg))
        print "GS Store: added obj"

    def create_object_marker(self, soma_obj, soma_type, pose):
        # create an interactive marker for our server
        int_marker = InteractiveMarker()
        int_marker.header.frame_id = "map"
        int_marker.name = soma_obj
        int_marker.description = "id" + soma_obj
        int_marker.pose = pose
        int_marker.pose.position.z = 0.01 
        
        mesh_marker = Marker()
        mesh_marker.type = Marker.MESH_RESOURCE
        mesh_marker.scale.x = 1
        mesh_marker.scale.y = 1
        mesh_marker.scale.z = 1

        random.seed(soma_type)
        val = random.random()

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]

#.........这里部分代码省略.........
            self._soma_obj_roi_ids[str(soma_roi_id)] = list()
            self._soma_obj_markers[soma_obj.id] = dict()
            #_id = self._msg_store.update_id
            _id = self._msg_store.insert(soma_obj)
            self._soma_obj_ids[soma_obj.id] = _id
            self._soma_obj_roi_ids[soma_obj.roi_id].append(soma_obj.id)
            self._soma_obj_type[soma_obj.id] = soma_type
            self._soma_obj_roi[soma_obj.id] = roi_id
            self._soma_obj_msg[soma_obj.id] = soma_obj
            self._soma_obj_pose[soma_obj.id] = soma_obj.posearray.poses

        else:
            # Get the roi id
            soma_roi_id = roi_id
            #print roi_id," ",self.soma_map," ",self.soma_conf," ",self._soma_obj_ids['1']

            #call the object with that id
            res = self._msg_store.query(SOMA2ROIObject._type,message_query={'id':str(roi_id)})

            #iterate through the objects. Normally there should be only 1 object returned
            for o,om in res:
               # print o," hi ",om
                soma_obj = o
              #  print "Soma Object: ", soma_obj
            if soma_obj:
                soma_obj.posearray.poses.append(pose)

                self._soma_obj_pose[soma_obj.id] = soma_obj.posearray.poses

                self.insert_geo_json(soma_obj.roi_id,soma_obj)

                #print soma_obj
                _id = self._soma_obj_ids[soma_obj.id]
                _newid =  self._msg_store.update_id(_id,soma_obj)

                soma_id = soma_obj.id

                self._soma_obj_msg[soma_obj.id] = soma_obj

        #_id = self._msg_store.update_id

        #self._soma_obj_ids[soma_obj.id] = _id
        #self._soma_obj_msg[soma_obj.id] = soma_obj
        #self._soma_obj_roi_ids[soma_obj.roi_id].append(soma_obj.id)
        #self._soma_obj_roi[soma_obj.id].append(soma_obj.roi_id)



        #for pose in soma_obj.posearray.poses:
        self.load_object(str(soma_id), soma_obj.roi_id, soma_type, pose)



    def create_object_marker(self, soma_obj, roi, soma_type, pose,markerno):
        # create an interactive marker for our server
        marker = Marker()
        marker.header.frame_id = "map"
        #int_marker.name = soma_obj+'_'+str(markerno)
       #int_marker.description = soma_type + ' (' + roi +'_'+str(markerno)+  ')'
        marker.pose = pose
        marker.id = markerno;
       # print marker.pose
        marker.pose.position.z = 0.01


        #marker = Marker()

# 需要导入模块: from mongodb_store.message_store import MessageStoreProxy [as 别名]
# 或者: from mongodb_store.message_store.MessageStoreProxy import update_id [as 别名]
        p_id = msg_store.insert(p)

        p_id = msg_store.insert(['test1', 'test2'])         

        # get it back with a name
        print msg_store.query_named("my favourite pose", Pose._type)

        p.position.x = 666

        # update it with a name
        msg_store.update_named("my favourite pose", p)

        p.position.y = 2020

        # update the other inserted one using the id
        msg_store.update_id(p_id, p)

        stored_p, meta = msg_store.query_id(p_id, Pose._type)

        assert stored_p.position.x == 666
        assert stored_p.position.y == 2020
        print "stored object ok"
        print "stored object inserted at %s (UTC rostime) by %s" % (meta['inserted_at'], meta['inserted_by'])
        print "stored object last updated at %s (UTC rostime) by %s" % (meta['last_updated_at'], meta['last_updated_by'])

        # some other things you can do...

        # get it back with a name
        print msg_store.query_named("my favourite pose", Pose._type)