From 147d495b670a60553441b92d0361d06223f5145d Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Tue, 29 Jun 2021 14:49:59 +0200
Subject: [PATCH] check if mongodb is running. If not return empty results
---
.../armem/core/longtermmemory/Memory.cpp | 32 +++++++++++++
.../armem/core/longtermmemory/Memory.h | 2 +
.../mongodb/MongoDBConnectionManager.cpp | 48 ++++++++++++++++++-
.../mongodb/MongoDBConnectionManager.h | 8 +++-
4 files changed, 88 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
index 4a96e410d..248594801 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.cpp
@@ -10,20 +10,47 @@
namespace armarx::armem::ltm
{
+ bool Memory::checkConnection() const
+ {
+ // Check connection:
+ if (!MongoDBConnectionManager::ConnectionIsValid(dbsettings))
+ {
+ ARMARX_WARNING << deactivateSpam("ConnectionIsNotValid") << "The connection to mongocxx for memory '" << name() << "' is not valid. Settings are: " << dbsettings.toString();
+ return false;
+ }
+ ARMARX_INFO << "Checking connection";
+ return true;
+ }
+
wm::Memory Memory::convert() const
{
+ if (!checkConnection())
+ {
+ wm::Memory m(id());
+ return m;
+ }
+
ARMARX_INFO << "Converting with connection to: " << dbsettings.toString();
+ TIMING_START(LTM_Convert);
+
wm::Memory m(id());
for (const auto& [_, s] : _container)
{
m.addCoreSegment(s.convert());
}
+
+ TIMING_END(LTM_Convert);
return m;
}
void Memory::reload()
{
+ if (!checkConnection())
+ {
+ return;
+ }
+
ARMARX_INFO << "(Re)Establishing connection to: " << dbsettings.toString();
_container.clear();
@@ -60,6 +87,11 @@ namespace armarx::armem::ltm
void Memory::append(const wm::Memory& m)
{
+ if (!checkConnection())
+ {
+ return;
+ }
+
ARMARX_INFO << "Merge memory with name '" << m.name() << "' into the LTM with name '" << name() << "'";
TIMING_START(LTM_Append);
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
index 0c14d4810..86c00cc61 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/Memory.h
@@ -65,6 +65,8 @@ namespace armarx::armem::ltm
other.dbsettings = dbsettings;
}
+ private:
+ bool checkConnection() const;
public:
MongoDBConnectionManager::MongoDBSettings dbsettings;
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
index d35c7640c..6ad448369 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.cpp
@@ -5,13 +5,19 @@ namespace armarx::armem::ltm
bool MongoDBConnectionManager::initialized = false;
std::map<std::string, mongocxx::client> MongoDBConnectionManager::Connections = {};
- mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+
+ void MongoDBConnectionManager::initialize_if()
{
if (!initialized)
{
initialized = true;
mongocxx::instance instance{}; // This should be done only once.
}
+ }
+
+ mongocxx::client& MongoDBConnectionManager::EstablishConnection(const MongoDBSettings& settings)
+ {
+ initialize_if();
const auto uri_str = settings.uri();
const auto& it = Connections.find(uri_str);
@@ -27,4 +33,44 @@ namespace armarx::armem::ltm
return it->second;
}
}
+
+ bool MongoDBConnectionManager::ConnectionIsValid(const MongoDBSettings& settings, bool force)
+ {
+ initialize_if();
+
+ try
+ {
+ if (!force)
+ {
+ const auto uri_str = settings.uri();
+ const auto& it = Connections.find(uri_str);
+ if (it != Connections.end())
+ {
+ auto admin = it->second["admin"];
+ auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
+ return true;
+ }
+ }
+
+ const auto uri_str = settings.uri();
+ mongocxx::uri uri(uri_str);
+ auto client = mongocxx::client(uri);
+ auto admin = client["admin"];
+ auto result = admin.run_command(bsoncxx::builder::basic::make_document(bsoncxx::builder::basic::kvp("isMaster", 1)));
+ return true;
+ }
+ catch (const std::exception& xcp)
+ {
+ return false;
+ }
+ }
+
+ bool MongoDBConnectionManager::ConnectionExists(const MongoDBSettings& settings)
+ {
+ initialize_if();
+
+ const auto uri_str = settings.uri();
+ const auto& it = Connections.find(uri_str);
+ return it != Connections.end();
+ }
}
diff --git a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
index 0c04151cc..0cd3cb5ba 100644
--- a/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
+++ b/source/RobotAPI/libraries/armem/core/longtermmemory/mongodb/MongoDBConnectionManager.h
@@ -4,6 +4,7 @@
#include <vector>
#include <map>
#include <memory>
+#include <iostream>
#include <bsoncxx/json.hpp>
#include <mongocxx/client.hpp>
@@ -35,7 +36,7 @@ namespace armarx::armem::ltm
struct MongoDBSettings
{
std::string host = "localhost";
- unsigned int port = 27017;
+ unsigned int port = 25270;
std::string user = "";
std::string password = "";
std::string database = "Test";
@@ -59,6 +60,11 @@ namespace armarx::armem::ltm
};
static mongocxx::client& EstablishConnection(const MongoDBSettings& settings);
+ static bool ConnectionIsValid(const MongoDBSettings& settings, bool force = false);
+ static bool ConnectionExists(const MongoDBSettings& settings);
+
+ private:
+ static void initialize_if();
private:
--
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