Changes have been pushed for the project "Fawkes Robotics Software Framework".
Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, fzwilling/robot-memory has been updated to ae75a1bf012916533f7c608c5d61ed8b53e706c0 (commit) via 553e17b178e18bd0dc814b99ed22a28331e248cd (commit) via 04a3c63656cd488bbd7b3f06f976333f9db6e5d2 (commit) from 69195c38a75ac601772b9cabd4dad09040d421eb (commit) http://git.fawkesrobotics.org/fawkes.git/fzwilling/robot-memory Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit 04a3c63656cd488bbd7b3f06f976333f9db6e5d2 Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Sep 21 17:55:02 2016 +0200 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Sep 21 19:58:16 2016 +0200 robot-memory: startup local mongod processes Startup a local mongod process when it is not already running. Requires the fzwilling/sub_process branch. http://git.fawkesrobotics.org/fawkes.git/commit/04a3c63 http://trac.fawkesrobotics.org/changeset/04a3c63 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 553e17b178e18bd0dc814b99ed22a28331e248cd Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Sep 21 19:48:29 2016 +0200 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Sep 21 19:58:20 2016 +0200 utils: string_conversions: resolve ~ in path http://git.fawkesrobotics.org/fawkes.git/commit/553e17b http://trac.fawkesrobotics.org/changeset/553e17b - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit ae75a1bf012916533f7c608c5d61ed8b53e706c0 Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Sep 21 19:48:59 2016 +0200 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Sep 21 19:58:25 2016 +0200 robot-memory: setup config server for distributed robot memory http://git.fawkesrobotics.org/fawkes.git/commit/ae75a1b http://trac.fawkesrobotics.org/changeset/ae75a1b - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/libs/utils/misc/string_conversions.cpp | 1 + src/plugins/robot-memory/robot_memory_plugin.cpp | 16 ++- src/plugins/robot-memory/robot_memory_setup.cpp | 156 ++++++++++++++++++++++ src/plugins/robot-memory/robot_memory_setup.h | 57 ++++++++ src/plugins/robot-memory/robot_memory_thread.cpp | 6 +- src/plugins/robot-memory/robot_memory_thread.h | 2 +- 6 files changed, 234 insertions(+), 4 deletions(-) create mode 100644 src/plugins/robot-memory/robot_memory_setup.cpp create mode 100644 src/plugins/robot-memory/robot_memory_setup.h - *Diffs* ------------------------------------------------------------- - *commit* 04a3c63656cd488bbd7b3f06f976333f9db6e5d2 - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Sep 21 17:55:02 2016 +0200 Subject: robot-memory: startup local mongod processes src/plugins/robot-memory/robot_memory_plugin.cpp | 16 +++- src/plugins/robot-memory/robot_memory_setup.cpp | 122 ++++++++++++++++++++++ src/plugins/robot-memory/robot_memory_setup.h | 56 ++++++++++ src/plugins/robot-memory/robot_memory_thread.cpp | 6 +- src/plugins/robot-memory/robot_memory_thread.h | 2 +- 5 files changed, 198 insertions(+), 4 deletions(-) _Diff for modified files_: diff --git a/src/plugins/robot-memory/robot_memory_plugin.cpp b/src/plugins/robot-memory/robot_memory_plugin.cpp index 2160ed6..c0d4b0f 100644 --- a/src/plugins/robot-memory/robot_memory_plugin.cpp +++ b/src/plugins/robot-memory/robot_memory_plugin.cpp @@ -19,6 +19,9 @@ */ #include "robot_memory_thread.h" +#include "robot_memory_setup.h" +#include <string> +#include <logging/console.h> #include <core/plugin.h> @@ -37,14 +40,25 @@ class RobotMemoryPlugin : public fawkes::Plugin */ RobotMemoryPlugin(Configuration *config) : Plugin(config) { - thread_list.push_back(new RobotMemoryThread()); + //before starting the robot memory (thread), we have to setup the mongod and mongos processes + //because the mongodb aspect of the robot memory hat to connect to it + logger_for_setup = new ConsoleLogger(Logger::LL_WARN); + setup = new RobotMemorySetup(config, logger_for_setup); + setup->setup_mongods(); + + std::string mongo_client_connection = config->get_string("plugins/robot-memory/setup/mongo-client-connection"); + thread_list.push_back(new RobotMemoryThread(mongo_client_connection)); } ~RobotMemoryPlugin() { + delete setup; + delete logger_for_setup; } + RobotMemorySetup* setup; + Logger *logger_for_setup; }; diff --git a/src/plugins/robot-memory/robot_memory_thread.cpp b/src/plugins/robot-memory/robot_memory_thread.cpp index 5ba2c0c..807c55d 100644 --- a/src/plugins/robot-memory/robot_memory_thread.cpp +++ b/src/plugins/robot-memory/robot_memory_thread.cpp @@ -35,9 +35,11 @@ using namespace fawkes; */ /** Constructor. */ -RobotMemoryThread::RobotMemoryThread() +RobotMemoryThread::RobotMemoryThread(std::string mongo_client_connection) : Thread("RobotMemoryThread", Thread::OPMODE_WAITFORWAKEUP), - BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_PROCESS), + ConfigurableAspect(), + MongoDBAspect(mongo_client_connection.c_str()), + BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_PROCESS), AspectProviderAspect(&robot_memory_inifin_) { } diff --git a/src/plugins/robot-memory/robot_memory_thread.h b/src/plugins/robot-memory/robot_memory_thread.h index b23ed42..610252f 100644 --- a/src/plugins/robot-memory/robot_memory_thread.h +++ b/src/plugins/robot-memory/robot_memory_thread.h @@ -53,7 +53,7 @@ class RobotMemoryThread public fawkes::AspectProviderAspect { public: - RobotMemoryThread(); + RobotMemoryThread(std::string mongo_client_connection); virtual ~RobotMemoryThread(); virtual void init(); - *commit* 553e17b178e18bd0dc814b99ed22a28331e248cd - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Sep 21 19:48:29 2016 +0200 Subject: utils: string_conversions: resolve ~ in path src/libs/utils/misc/string_conversions.cpp | 1 + 1 files changed, 1 insertions(+), 0 deletions(-) _Diff for modified files_: diff --git a/src/libs/utils/misc/string_conversions.cpp b/src/libs/utils/misc/string_conversions.cpp index f3bac1d..7cf194c 100644 --- a/src/libs/utils/misc/string_conversions.cpp +++ b/src/libs/utils/misc/string_conversions.cpp @@ -289,6 +289,7 @@ StringConversions::resolve_path(std::string s) resolve_map["@CONFDIR@"] = CONFDIR; resolve_map["@SRCDIR@"] = SRCDIR; resolve_map["@FAWKES_BASEDIR@"] = FAWKES_BASEDIR; + resolve_map["~"] = getenv("HOME"); std::string res = s; for(std::map<std::string, std::string>::iterator it = resolve_map.begin(); it != resolve_map.end(); it++) { - *commit* ae75a1bf012916533f7c608c5d61ed8b53e706c0 - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Sep 21 19:48:59 2016 +0200 Subject: robot-memory: setup config server for distributed robot memory src/plugins/robot-memory/robot_memory_setup.cpp | 44 ++++++++++++++++++++--- src/plugins/robot-memory/robot_memory_setup.h | 3 +- 2 files changed, 41 insertions(+), 6 deletions(-) _Diff for modified files_: diff --git a/src/plugins/robot-memory/robot_memory_setup.cpp b/src/plugins/robot-memory/robot_memory_setup.cpp index dd56a12..49fffb1 100644 --- a/src/plugins/robot-memory/robot_memory_setup.cpp +++ b/src/plugins/robot-memory/robot_memory_setup.cpp @@ -20,8 +20,10 @@ */ #include "robot_memory_setup.h" +#include <plugin/loader.h> #include <mongo/client/dbclient.h> #include <mongo/client/init.h> +#include <utils/misc/string_conversions.h> using namespace fawkes; @@ -43,17 +45,37 @@ RobotMemorySetup::~RobotMemorySetup() void RobotMemorySetup::setup_mongods() { //start local mongod if necessary - unsigned int local_port = config->get_uint("plugins/robot-memory/setup/local/port"); + unsigned int local_port = config->get_int("plugins/robot-memory/setup/local/port"); if (!is_mongo_running(local_port)) { const char *argv[] = {"mongod","--port", std::to_string(local_port).c_str(), NULL}; std::string cmd = command_args_tostring(argv); - //logger->log_debug("RobotMemorySetup", "Port: '%s'", std::to_string(local_port).c_str()); logger->log_info("RobotMemorySetup", "Starting local mongod process: '%s'", cmd.c_str()); local_mongod = new SubProcess("mongod-local", "mongod", argv, NULL, logger); logger->log_info("RobotMemorySetup", "Started local mongod"); wait_until_started(local_port, cmd); } + + //only start other processes when we want to run the robot memory distributed + if(!config->get_bool("plugins/robot-memory/setup/distributed")) + return; + + unsigned int config_port = config->get_int("plugins/robot-memory/setup/config/port"); + if (!is_mongo_running(config_port)) + { + std::string repl_set_name = config->get_string("plugins/robot-memory/setup/config/replica-set-name"); + std::string db_path = StringConversions::resolve_path(config->get_string("plugins/robot-memory/setup/config/db-path").c_str()); + const char *argv[] = {"mongod", "--configsvr", "--port", std::to_string(config_port).c_str(), + //"--replSet", repl_set_name.c_str(), + "--dbpath", db_path.c_str(), NULL}; + logger->log_info("RobotMemorySetup", "Running on port: %s", std::to_string(config_port)); + std::string cmd = command_args_tostring(argv); + prepare_mongo_db_path(db_path); + logger->log_info("RobotMemorySetup", "Starting config mongod process: '%s'", cmd.c_str()); + config_mongod = new SubProcess("mongod-config", "mongod", argv, NULL, logger); + logger->log_info("RobotMemorySetup", "Started config mongod"); + wait_until_started(config_port, cmd); + } } /** @@ -64,8 +86,12 @@ void RobotMemorySetup::shutdown_mongods() { if (local_mongod) delete local_mongod; - - //TODO:remember and shutdown Subprocesses + if (config_mongod) + delete config_mongod; + if (distribuded_mongod) + delete distribuded_mongod; + if (mongos) + delete mongos; } /** @@ -118,5 +144,13 @@ void RobotMemorySetup::wait_until_started(unsigned int port, std::string cmd, in return; usleep(wait_step); } - logger->log_error("RobotMemorySetup", "MongoDB did not starup in the given time. Please start '%s' manually once.", cmd.c_str()); + std::string err_msg = "MongoDB did not starup in the given time. Please start '" + +cmd+"' manually once."; + throw PluginLoadException("robot-memory", err_msg.c_str()); +} + +void RobotMemorySetup::prepare_mongo_db_path(std::string path) +{ + std::string command = "mkdir -p " + path; + popen(command.c_str(), "r"); } diff --git a/src/plugins/robot-memory/robot_memory_setup.h b/src/plugins/robot-memory/robot_memory_setup.h index 248b93e..c3bf1ea 100644 --- a/src/plugins/robot-memory/robot_memory_setup.h +++ b/src/plugins/robot-memory/robot_memory_setup.h @@ -45,7 +45,8 @@ class RobotMemorySetup fawkes::Logger *logger; bool is_mongo_running(unsigned int port); - void wait_until_started(unsigned int port, std::string cmd, int timout = 10000000); + void wait_until_started(unsigned int port, std::string cmd, int timout = 15000000); + void prepare_mongo_db_path(std::string path); fawkes::SubProcess *local_mongod; fawkes::SubProcess *config_mongod; -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
