msg v0.0.16. GetEpisodes.srv. Implement services: episode/get, stream…

…/get,add,delete.

include/ltm/db/impl/stream_collection_impl.hxx

@@ -197,7 +197,6 @@ namespace ltm {
 
  template<class StreamType>
  bool StreamCollectionManager<StreamType>::ltm_insert(const StreamType &stream, MetadataPtr metadata) {
-
  // add common metadata for streams
  metadata->append("uid", (int) stream.meta.uid);
  metadata->append("episode_uid", (int) stream.meta.episode);
@@ -206,6 +205,7 @@ namespace ltm {
  metadata->append("start", _start);
  metadata->append("end", _end);
 
+ // insert
  _coll->insert(stream, metadata);
  // todo: insert into cache
  ROS_INFO_STREAM(_log_prefix << "Inserting stream (" << stream.meta.uid << ") into collection "

include/ltm/plugin/impl/stream_ros_impl.hxx

@@ -2,6 +2,7 @@
 #define LTM_PLUGIN_STREAM_ROS_IMPL_HXX
 
 #include <ltm/plugin/stream_ros.h>
+#include <ltm/util/util.h>
 
 namespace ltm {
  namespace plugin {
@@ -46,29 +47,45 @@ namespace ltm {
 
  template<class StreamType, class StreamSrv>
  bool StreamROS<StreamType, StreamSrv>::add_service(StreamSrvRequest &req, StreamSrvResponse &res) {
- this->ltm_insert(req.msg, this->make_metadata(req.msg));
+ typename std::vector<StreamType>::const_iterator it;
+ for (it = req.msgs.begin(); it != req.msgs.end(); ++it) {
+ this->ltm_insert(*it, this->make_metadata(*it));
+ }
  return true;
  }
 
  template<class StreamType, class StreamSrv>
  bool StreamROS<StreamType, StreamSrv>::get_service(StreamSrvRequest &req, StreamSrvResponse &res) {
- ROS_INFO_STREAM(this->_log_prefix << "Retrieving stream (" << req.uid << ") from collection '" << this->ltm_get_collection_name() << "'");
- StreamWithMetadataPtr stream_ptr;
- if (!this->ltm_get(req.uid, stream_ptr)) {
- ROS_ERROR_STREAM(this->_log_prefix << "Stream with uid '" << req.uid << "' not found.");
- res.succeeded = (uint8_t) false;
- return true;
+ ROS_INFO_STREAM(this->_log_prefix << "Retrieving streams from collection '" << this->ltm_get_collection_name() << "': " << ltm::util::vector_to_str(req.uids));
+ res.msgs.clear();
+
+ std::vector<uint32_t> visited, not_found;
+ std::vector<uint32_t>::const_iterator it;
+ for (it = req.uids.begin(); it != req.uids.end(); ++it) {
+ // do not seek repeated msgs
+ if (visited.end() != std::find(visited.begin(), visited.end(), *it)) continue;
+ visited.push_back(*it);
+
+ StreamWithMetadataPtr stream_ptr;
+ if (!this->ltm_get(*it, stream_ptr)) {
+ not_found.push_back(*it);
+ continue;
+ }
+ res.msgs.push_back(*stream_ptr);
  }
- res.msg = *stream_ptr;
- res.succeeded = (uint8_t) true;
+ ROS_WARN_STREAM_COND(not_found.size() > 0, this->_log_prefix
+  << "GET: The following requested streams were not found: " << ltm::util::vector_to_str(not_found));
  return true;
  }
 
  template<class StreamType, class StreamSrv>
  bool StreamROS<StreamType, StreamSrv>::delete_service(StreamSrvRequest &req, StreamSrvResponse &res) {
- ROS_INFO_STREAM(this->_log_prefix << "Removing (" << req.uid << ") from collection '" << this->ltm_get_collection_name() << "'");
- res.succeeded = (uint8_t) this->ltm_remove(req.uid);
- return res.succeeded;
+ ROS_INFO_STREAM(this->_log_prefix << "Deleting streams from collection '" << this->ltm_get_collection_name() << "': " << ltm::util::vector_to_str(req.uids));
+ std::vector<uint32_t>::const_iterator it;
+ for (it = req.uids.begin(); it != req.uids.end(); ++it) {
+ this->ltm_remove(*it);
+ }
+ return true;
  }
  }
 }

include/ltm/util/util.h

@@ -5,7 +5,7 @@
 #include <vector>
 #include <set>
 #include <string>
-#include <iostream>
+#include <sstream>
 #include <algorithm>
 
 namespace ltm {
@@ -17,6 +17,10 @@ namespace ltm {
 
  std::string vector_to_str(const std::vector<std::string> &array);
 
+ std::string vector_to_str(const std::vector<int> &array);
+
+ std::string vector_to_str(const std::vector<uint32_t> &array);
+
  }
 }
 

src/server.cpp

@@ -1,4 +1,5 @@
 #include <ltm/util/parameter_server_wrapper.h>
+#include <ltm/util/util.h>
 #include <ltm/server.h>
 #include <boost/scoped_ptr.hpp>
 
@@ -57,16 +58,26 @@ namespace ltm {
  // ==========================================================
 
  bool Server::get_episodes_service(ltm::GetEpisodes::Request &req, ltm::GetEpisodes::Response &res) {
-// ROS_INFO_STREAM(_log_prefix << "GET: Retrieving episode with uid: " << req.uids);
-// EpisodeWithMetadataPtr ep_ptr;
-// if (!_db->get(req.uid, ep_ptr)) {
-// ROS_ERROR_STREAM(_log_prefix << "GET: Episode with uid '" << req.uid << "' not found.");
-// res.succeeded = (uint8_t) false;
-// return true;
-// }
-// res.episodes = *ep_ptr;
-// res.succeeded = (uint8_t) true;
-// return true;
+ ROS_INFO_STREAM(_log_prefix << "GET: Retrieving episodes with uids: " << ltm::util::vector_to_str(req.uids));
+ res.not_found.clear();
+ res.episodes.clear();
+ std::vector<uint32_t> visited;
+ std::vector<uint32_t>::const_iterator it;
+ for (it = req.uids.begin(); it != req.uids.end(); ++it) {
+ // do not seek repeated episodes
+ if (visited.end() != std::find(visited.begin(), visited.end(), *it)) continue;
+ visited.push_back(*it);
+
+ EpisodeWithMetadataPtr ep_ptr;
+ if (!_db->get(*it, ep_ptr)) {
+ res.not_found.push_back(*it);
+ continue;
+ }
+ res.episodes.push_back(*ep_ptr);
+ }
+ ROS_WARN_STREAM_COND(res.not_found.size() > 0, _log_prefix
+ << "GET: The following requested episodes were not found: " << ltm::util::vector_to_str(res.not_found));
+ return true;
  }
 
  bool Server::query_server_service(ltm::QueryServer::Request &req, ltm::QueryServer::Response &res) {

src/util/util.cpp

@@ -4,9 +4,36 @@ namespace ltm {
  namespace util {
 
  std::string vector_to_str(const std::vector<std::string> &array) {
+ if (array.empty()) return "[]";
  std::vector<std::string>::const_iterator it;
  std::stringstream ss;
  ss << "[";
+ for (it = array.begin(); it != array.end(); ++it) {
+ ss << "'" << *it << "', ";
+ }
+ ss.seekp(-2, ss.cur);
+ ss << "]";
+ return ss.str();
+ }
+
+ std::string vector_to_str(const std::vector<int> &array) {
+ if (array.empty()) return "[]";
+ std::vector<int>::const_iterator it;
+ std::ostringstream ss;
+ ss << "[";
+ for (it = array.begin(); it != array.end(); ++it) {
+ ss << *it << ", ";
+ }
+ ss.seekp(-2, ss.cur);
+ ss << "]";
+ return ss.str();
+ }
+
+ std::string vector_to_str(const std::vector<uint32_t> &array) {
+ if (array.empty()) return "[]";
+ std::vector<uint32_t>::const_iterator it;
+ std::ostringstream ss;
+ ss << "[";
  for (it = array.begin(); it != array.end(); ++it) {
  ss << *it << ", ";
  }

srv/GetEpisodes.srv

@@ -1,5 +1,5 @@
 # target uids
 uint32[] uids
 ---
-bool succeeded
-ltm/Episode[] episodes
+ltm/Episode[] episodes
+uint32[] not_found