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 ac7cf879b77533cdc706afe79a17496a169c9694 (commit) via 7dc316b0a922ca18e24d632b834cc1060fa45546 (commit) via dce07be9146ffbc0d9e88e5a438462decd7fd5c1 (commit) from 0bd5b96d1753dbf5b8414ceac7422ed4eda6ba2b (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 dce07be9146ffbc0d9e88e5a438462decd7fd5c1 Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Nov 30 15:02:17 2016 +0100 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Nov 30 16:52:27 2016 +0100 clips-robot-memory: added function (bson-has-hield ?obj "field") http://git.fawkesrobotics.org/fawkes.git/commit/dce07be http://trac.fawkesrobotics.org/changeset/dce07be - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 7dc316b0a922ca18e24d632b834cc1060fa45546 Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Nov 30 15:03:09 2016 +0100 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Nov 30 16:52:33 2016 +0100 robot-memory: fixed trigger on local replica set http://git.fawkesrobotics.org/fawkes.git/commit/7dc316b http://trac.fawkesrobotics.org/changeset/7dc316b - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit ac7cf879b77533cdc706afe79a17496a169c9694 Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> AuthorDate: Wed Nov 30 16:51:06 2016 +0100 Commit: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> CommitDate: Wed Nov 30 16:52:38 2016 +0100 pddl-robot-memory: added interface files http://git.fawkesrobotics.org/fawkes.git/commit/ac7cf87 http://trac.fawkesrobotics.org/changeset/ac7cf87 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- ...veRobotMemoryInterface.h => PddlGenInterface.h} | 46 +++-- .../clips_robot_memory_thread.cpp | 18 ++ .../clips-robot-memory/clips_robot_memory_thread.h | 1 + .../interfaces/PddlGenInterface.cpp | 235 ++++++++++++++++++++ .../interfaces/PddlGenInterface.h_ext} | 46 +++-- .../interfaces/PddlGenInterface.tolua} | 25 ++- src/plugins/robot-memory/event_trigger_manager.cpp | 6 +- src/plugins/robot-memory/event_trigger_manager.h | 11 +- 8 files changed, 326 insertions(+), 62 deletions(-) copy src/libs/interfaces/{OpenraveRobotMemoryInterface.h => PddlGenInterface.h} (70%) create mode 100644 src/plugins/pddl-robot-memory/interfaces/PddlGenInterface.cpp copy src/{libs/interfaces/OpenraveRobotMemoryInterface.h => plugins/pddl-robot-memory/interfaces/PddlGenInterface.h_ext} (70%) copy src/{libs/interfaces/OpenraveRobotMemoryInterface.tolua => plugins/pddl-robot-memory/interfaces/PddlGenInterface.tolua} (79%) - *Diffs* ------------------------------------------------------------- - *commit* dce07be9146ffbc0d9e88e5a438462decd7fd5c1 - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Nov 30 15:02:17 2016 +0100 Subject: clips-robot-memory: added function (bson-has-hield ?obj "field") .../clips_robot_memory_thread.cpp | 18 ++++++++++++++++++ .../clips-robot-memory/clips_robot_memory_thread.h | 1 + 2 files changed, 19 insertions(+), 0 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-robot-memory/clips_robot_memory_thread.cpp b/src/plugins/clips-robot-memory/clips_robot_memory_thread.cpp index 3b9e4f9..187d1fb 100644 --- a/src/plugins/clips-robot-memory/clips_robot_memory_thread.cpp +++ b/src/plugins/clips-robot-memory/clips_robot_memory_thread.cpp @@ -96,6 +96,7 @@ ClipsRobotMemoryThread::clips_context_init(const std::string &env_name, ); clips->add_function("robmem-trigger-destroy", sigc::slot<void, void *>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_robotmemory_destroy_trigger))); clips->add_function("bson-field-names", sigc::slot<CLIPS::Values, void *>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_bson_field_names))); + clips->add_function("bson-has-field", sigc::slot<CLIPS::Value, void *, std::string>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_bson_has_field))); clips->add_function("bson-get", sigc::slot<CLIPS::Value, void *, std::string>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_bson_get))); clips->add_function("bson-get-array", sigc::slot<CLIPS::Values, void *, std::string>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_bson_get_array))); clips->add_function("bson-get-time", sigc::slot<CLIPS::Values, void *, std::string>(sigc::mem_fun(*this, &ClipsRobotMemoryThread::clips_bson_get_time))); @@ -583,6 +584,23 @@ ClipsRobotMemoryThread::clips_bson_get(void *bson, std::string field_name) } } +CLIPS::Value +ClipsRobotMemoryThread::clips_bson_has_field(void *bson, std::string field_name) +{ + mongo::BSONObjBuilder *b = static_cast<mongo::BSONObjBuilder *>(bson); + + if (! b) { + logger->log_error("MongoDB", "mongodb-bson-get: invalid object"); + return CLIPS::Value("FALSE", CLIPS::TYPE_SYMBOL); + } + + mongo::BSONObj o(b->asTempObj()); + + if (! o.hasField(field_name)) { + return CLIPS::Value("FALSE", CLIPS::TYPE_SYMBOL); + } + return CLIPS::Value("TRUE", CLIPS::TYPE_SYMBOL); +} CLIPS::Values ClipsRobotMemoryThread::clips_bson_get_array(void *bson, std::string field_name) diff --git a/src/plugins/clips-robot-memory/clips_robot_memory_thread.h b/src/plugins/clips-robot-memory/clips_robot_memory_thread.h index f4fd1f4..54977ae 100644 --- a/src/plugins/clips-robot-memory/clips_robot_memory_thread.h +++ b/src/plugins/clips-robot-memory/clips_robot_memory_thread.h @@ -90,6 +90,7 @@ class ClipsRobotMemoryThread CLIPS::Value clips_robotmemory_cursor_next(void *cursor); void clips_robotmemory_cursor_destroy(void *cursor); CLIPS::Values clips_bson_field_names(void *bson); + CLIPS::Value clips_bson_has_field(void *bson, std::string field_name); CLIPS::Value clips_bson_get(void *bson, std::string field_name); CLIPS::Values clips_bson_get_array(void *bson, std::string field_name); CLIPS::Values clips_bson_get_time(void *bson, std::string field_name); - *commit* 7dc316b0a922ca18e24d632b834cc1060fa45546 - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Nov 30 15:03:09 2016 +0100 Subject: robot-memory: fixed trigger on local replica set src/plugins/robot-memory/event_trigger_manager.cpp | 6 +++--- src/plugins/robot-memory/event_trigger_manager.h | 11 +++-------- 2 files changed, 6 insertions(+), 11 deletions(-) _Diff for modified files_: diff --git a/src/plugins/robot-memory/event_trigger_manager.cpp b/src/plugins/robot-memory/event_trigger_manager.cpp index 684ce51..73dba88 100644 --- a/src/plugins/robot-memory/event_trigger_manager.cpp +++ b/src/plugins/robot-memory/event_trigger_manager.cpp @@ -21,7 +21,6 @@ #include "event_trigger_manager.h" -#include <plugin/loader.h> #include <boost/bind.hpp> using namespace fawkes; @@ -42,9 +41,10 @@ EventTriggerManager::EventTriggerManager(Logger* logger, Configuration* config) std::string err_msg = "Could not connect to mongod process: "+ errmsg; throw PluginLoadException("robot-memory", err_msg.c_str()); } + repl_set_dist = config_->get_string("plugins/robot-memory/setup/replicated/replica-set-name"); + repl_set_local = config_->get_string("plugins/robot-memory/setup/local/replica-set-name"); if(distributed_) { - repl_set = config_->get_string("plugins/robot-memory/setup/replicated/replica-set-name"); con_replica_ = new mongo::DBClientConnection(); if(!con_replica_->connect("localhost:" + std::to_string(config_->get_uint("plugins/robot-memory/setup/replicated/port")), errmsg)) { @@ -79,7 +79,7 @@ void EventTriggerManager::check_events() logger_->log_debug(name.c_str(), "Tailable Cursor is dead, requerying"); //check if collection is local or replicated mongo::DBClientConnection* con; - if(trigger->oplog_collection.find(repl_set) == 0) + if(trigger->oplog_collection.find(repl_set_dist) == 0) { con = con_replica_; } diff --git a/src/plugins/robot-memory/event_trigger_manager.h b/src/plugins/robot-memory/event_trigger_manager.h index 06362e8..a28f023 100644 --- a/src/plugins/robot-memory/event_trigger_manager.h +++ b/src/plugins/robot-memory/event_trigger_manager.h @@ -28,6 +28,7 @@ #include <list> #include "event_trigger.h" #include <boost/bind.hpp> +#include <plugin/loader.h> ///typedef for shorter type description @@ -72,16 +73,10 @@ class EventTriggerManager mongo::DBClientConnection* con; std::string oplog; oplog = "local.oplog.rs"; - if(collection.find(repl_set) == 0) - { + if(collection.find(repl_set_dist) == 0) con = con_replica_; - if(!distributed_) - logger_->log_error(name.c_str(), "Can not add trigger for %s, if the robot memory is not configured to be distributed", collection.c_str()); - } else - { con = con_local_; - } EventTrigger *trigger = new EventTrigger(oplog_query, collection, boost::bind(callback, obj, _1)); trigger->oplog_cursor = create_oplog_cursor(con, oplog, oplog_query); @@ -103,7 +98,7 @@ class EventTriggerManager mongo::DBClientConnection* con_local_; mongo::DBClientConnection* con_replica_; - std::string repl_set, local_db; + std::string repl_set_dist, repl_set_local, local_db; bool distributed_; std::list<EventTrigger*> triggers; - *commit* ac7cf879b77533cdc706afe79a17496a169c9694 - - - - - - - - - - Author: Frederik Zwilling <zwill...@kbsg.rwth-aachen.de> Date: Wed Nov 30 16:51:06 2016 +0100 Subject: pddl-robot-memory: added interface files ...veRobotMemoryInterface.h => PddlGenInterface.h} | 46 +++-- .../interfaces/PddlGenInterface.cpp | 235 ++++++++++++++++++++ .../interfaces/PddlGenInterface.h_ext} | 46 +++-- .../interfaces/PddlGenInterface.tolua} | 25 ++- 4 files changed, 301 insertions(+), 51 deletions(-) -- 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
