1 #include "test_mongo_helpers.h"
   2 #include <mongo_ros/message_collection.h>
   3 #include <mongo_ros/exceptions.h>
   4 #include <ros/ros.h>
   5 #include <boost/foreach.hpp>
   6 #include <gtest/gtest.h>
   7 
   8 namespace mr=mongo_ros;
   9 namespace gm=geometry_msgs;
  10 using std::vector;
  11 using std::string;
  12 using std::cout;
  13 
  14 typedef mr::MessageWithMetadata<gm::Pose> PoseWithMetadata;
  15 typedef PoseWithMetadata::ConstPtr PoseMetaPtr;
  16 
  17 // Helper function that creates metadata for a message.
  18 // Here we'll use the x and y position, as well as a 'name'
  19 // field that isn't part of the original message.
  20 mr::Metadata makeMetadata (const gm::Pose& p, const string& v)
  21 {
  22   return mr::Metadata("x", p.position.x, "y", p.position.y, "name", v);
  23 }
  24 
  25 TEST(MongoRos, MongoRos)
  26 {
  27   // Symbols used in queries to denote binary predicates for < and >
  28   // Note that equality is the default, so we don't need a symbol for it
  29   using mr::LT;
  30   using mr::GT;
  31 
  32   // Clear existing data if any
  33   mr::dropDatabase("my_db", "localhost", 27019, 60.0);
  34   
  35   // Set up db
  36   mr::MessageCollection<gm::Pose> coll("my_db", "poses", "localhost",
  37                                        27019, 60.0);
  38 
  39   // Arrange to index on metadata fields 'x' and 'name'
  40   coll.ensureIndex("name");
  41   coll.ensureIndex("x");
  42 
  43   // Add some poses and metadata
  44   const gm::Pose p1 = makePose(24, 42, 0);
  45   const gm::Pose p2 = makePose(10, 532, 3);
  46   const gm::Pose p3 = makePose(53, 22, 5);
  47   const gm::Pose p4 = makePose(22, -5, 33);
  48   coll.insert(p1, makeMetadata(p1, "bar"));
  49   coll.insert(p2, makeMetadata(p2, "baz"));
  50   coll.insert(p3, makeMetadata(p3, "qux"));
  51   coll.insert(p1, makeMetadata(p1, "oof"));
  52   coll.insert(p4, makeMetadata(p4, "ooof"));
  53   EXPECT_EQ(5u, coll.count());
  54 
  55   // Simple query: find the pose with name 'qux' and return just its metadata
  56   // Since we're doing an equality check, we don't explicitly specify a predicate
  57   vector<PoseMetaPtr> res = coll.pullAllResults(mr::Query("name", "qux"), true);
  58   EXPECT_EQ(1u, res.size());
  59   EXPECT_EQ("qux", res[0]->lookupString("name"));
  60   EXPECT_DOUBLE_EQ(53, res[0]->lookupDouble("x"));
  61   
  62   // Set up query: position.x < 40 and position.y > 0.  Reverse order
  63   // by the "name" metadata field.  Also, here we pull the message itself, not
  64   // just the metadata.  Finally, we can't use the simplified construction
  65   // syntax here because it's too long
  66   mr::Query q = mr::Query().append("x", mr::LT, 40).append("y", mr::GT, 0);
  67   vector<PoseMetaPtr> poses = coll.pullAllResults(q, false, "name", false);
  68   
  69   // Verify poses. 
  70   EXPECT_EQ(3u, poses.size());
  71   EXPECT_EQ(p1, *poses[0]);
  72   EXPECT_EQ(p2, *poses[1]);
  73   EXPECT_EQ(p1, *poses[2]);
  74 
  75   EXPECT_EQ("oof", poses[0]->lookupString("name"));
  76   EXPECT_EQ("baz", poses[1]->lookupString("name"));
  77   EXPECT_EQ("bar", poses[2]->lookupString("name"));
  78 
  79   // Set up query to delete some poses.
  80   mr::Query q2 ("y", mr::LT, 30);
  81 
  82   EXPECT_EQ(5u, coll.count());
  83   EXPECT_EQ(2u, coll.removeMessages(q2));
  84   EXPECT_EQ(3u, coll.count());
  85 
  86   // Test findOne
  87   mr::Query q4("name", "bar");
  88   EXPECT_EQ(p1, *coll.findOne(q4, false));
  89   EXPECT_DOUBLE_EQ(24, coll.findOne(q4, true)->lookupDouble("x"));
  90 
  91   mr::Query q5("name", "barbar");
  92   EXPECT_THROW(coll.findOne(q5, true), mr::NoMatchingMessageException);
  93   EXPECT_THROW(coll.findOne(q5, false), mr::NoMatchingMessageException);
  94   
  95   // Test update
  96   coll.modifyMetadata(q4, mr::Metadata("name", "barbar"));
  97   EXPECT_EQ(3u, coll.count());
  98   EXPECT_THROW(coll.findOne(q4, false), mr::NoMatchingMessageException);
  99   ROS_INFO("here");
 100   EXPECT_EQ(p1, *coll.findOne(q5, false));
 101 
 102   // Check stored metadata
 103   boost::shared_ptr<mongo::DBClientConnection> conn =
 104     mr::makeDbConnection(ros::NodeHandle());
 105   EXPECT_EQ("geometry_msgs/Pose", mr::messageType(*conn, "my_db", "poses"));
 106 }
 107 
 108 
 109 int main (int argc, char** argv)
 110 {
 111   ros::init(argc, argv, "client_test");
 112   ros::NodeHandle nh;
 113   testing::InitGoogleTest(&argc, argv);
 114   return RUN_ALL_TESTS();
 115 }
 116