warehouse_connector.cpp

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/* Author: E. Gil Jones */
 
#include <sys/types.h>
#include <signal.h>
#include <moveit/warehouse/warehouse_connector.h>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/utilities.hpp>
#include <moveit/utils/logger.hpp>
 
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.ros.warehouse_connector");
}
}  // namespace
 
#ifdef _WIN32
void kill(int, int)
{
  RCLCPP_ERROR(getLogger(), "Warehouse connector not supported on Windows");
}  // Should never be called
int fork()
{
  RCLCPP_ERROR(getLogger(), "Warehouse connector not supported on Windows");
  return -1;
}
#else
#include <unistd.h>
#endif
 
namespace moveit_warehouse
{
WarehouseConnector::WarehouseConnector(const std::string& dbexec) : dbexec_(dbexec), child_pid_(0)
{
}
 
WarehouseConnector::~WarehouseConnector()
{
  if (child_pid_ != 0)
    kill(child_pid_, SIGTERM);
}
 
bool WarehouseConnector::connectToDatabase(const std::string& dirname)
{
  if (child_pid_ != 0)
    kill(child_pid_, SIGTERM);
 
  child_pid_ = fork();
  if (child_pid_ == -1)
  {
    RCLCPP_ERROR(getLogger(), "Error forking process.");
    child_pid_ = 0;
    return false;
  }
 
  if (child_pid_ == 0)
  {
    std::size_t exec_file_pos = dbexec_.find_last_of("/\\");
    if (exec_file_pos != std::string::npos)
    {
      char** argv = new char*[4];
      std::size_t exec_length = 1 + dbexec_.length() - exec_file_pos;
      argv[0] = new char[1 + exec_length];
      snprintf(argv[0], exec_length, "%s", dbexec_.substr(exec_file_pos + 1).c_str());
 
      argv[1] = new char[16];
      snprintf(argv[1], 15, "--dbpath");
 
      argv[2] = new char[1024];
      snprintf(argv[2], 1023, "%s", dirname.c_str());
 
      argv[3] = nullptr;
 
      int code = execv(dbexec_.c_str(), argv);
      delete[] argv[0];
      delete[] argv[1];
      delete[] argv[2];
      delete[] argv;
      RCLCPP_ERROR_STREAM(getLogger(),
                          "execv() returned " << code << ", errno=" << errno << " string errno = " << strerror(errno));
    }
    return false;
  }
  else
  {
    // sleep so mongod has time to come up
    using namespace std::chrono_literals;
    rclcpp::sleep_for(1s);
  }
  return true;
}
}  // namespace moveit_warehouse