MongoCollectionInfo::MongoCollectionInfo(mongo::BSONObj stats):_ns(QString::fromStdString(stats.getStringField("ns")))
{
// if "size" and "storageSize" are of type Int32 or Int64, they
// will be converted to double by "numberDouble()" function.
_sizeBytes = stats.getField("size").numberDouble();
_storageSizeBytes = stats.getField("storageSize").numberDouble();
_count = stats.getIntField("count");
}
//-----------------------------------------------------------------------------
bool trial_c::map( Reveal::Core::trial_ptr& trial, mongo::BSONObj obj ) {
trial = Reveal::Core::trial_ptr( new Reveal::Core::trial_c() );
trial->scenario_id = obj.getField( "scenario_id" ).String();
trial->t = obj.getField( "t" ).Double();
model_c::fetch( trial, obj );
return true;
}
/** Good if one primary and rest secondaries and arbiters */
static bool goodReplStatus (mongo::BSONObj &info) {
if (!info.getField("ok").trueValue()) return false;
vector<mongo::BSONElement> ms = info.getField("members").Array();
bool primary = false;
for (unsigned i = 0; i < ms.size(); i++) {
int state = ms[i].Obj().getIntField("state");
if (state == 1) {primary = true; continue;}
if (state != 2 && state != 7) return false;
}
return primary;
}
//-----------------------------------------------------------------------------
bool solution_c::map( Reveal::Core::solution_ptr& solution, mongo::BSONObj obj, Reveal::Core::solution_c::type_e type ) {
solution = Reveal::Core::solution_ptr( new Reveal::Core::solution_c( type ) );
if( type == Reveal::Core::solution_c::CLIENT )
solution->experiment_id = obj.getField( "experiment_id" ).String();
solution->scenario_id = obj.getField( "scenario_id" ).String();
solution->t = obj.getField( "t" ).Double();
if( type == Reveal::Core::solution_c::CLIENT )
solution->real_time = obj.getField( "real_time" ).Double();
model_c::fetch( solution, obj );
return true;
}
//-----------------------------------------------------------------------------
bool joint_c::fetch( Reveal::Core::joint_ptr joint, mongo::BSONObj bson ) {
assert( joint );
joint->id = bson.getField( FIELD_ID ).String();
mongo::BSONObj bson_q = bson.getObjectField( FIELD_STATE_POSITION );
std::vector<mongo::BSONElement> v_q;
bson_q.elems( v_q );
for( unsigned i = 0; i < v_q.size(); i++ )
joint->state.q( i, v_q[i].Double() );
mongo::BSONObj bson_dq = bson.getObjectField( FIELD_STATE_VELOCITY );
std::vector<mongo::BSONElement> v_dq;
bson_dq.elems( v_dq );
for( unsigned i = 0; i < v_dq.size(); i++ )
joint->state.dq( i, v_dq[i].Double() );
mongo::BSONObj bson_u = bson.getObjectField( FIELD_CONTROL );
std::vector<mongo::BSONElement> v_u;
bson_u.elems( v_u );
for( unsigned i = 0; i < v_u.size(); i++ )
joint->control.u( i, v_u[i].Double() );
return true;
}
repo::core::RepoNodeTexture::RepoNodeTexture(const mongo::BSONObj &obj)
: RepoNodeAbstract(obj)
, data(NULL)
{
//
// Width
//
if (obj.hasField(REPO_LABEL_WIDTH))
width = obj.getField(REPO_LABEL_WIDTH).numberInt();
//
// Height
//
if (obj.hasField(REPO_LABEL_HEIGHT))
height = obj.getField(REPO_LABEL_HEIGHT).numberInt();
//
// Format
//
if (obj.hasField(REPO_NODE_LABEL_EXTENSION)) {
extension = obj.getField(REPO_NODE_LABEL_EXTENSION).str();
name += "." + extension; // assimp needs full names with extension
}
//
// Bit depth
//
//if (obj.hasField(REPO_NODE_LABEL_BIT_DEPTH))
// bitDepth = obj.getField(REPO_NODE_LABEL_BIT_DEPTH).numberInt();
//
// Data
//
if (obj.hasField(REPO_LABEL_DATA) &&
obj.hasField(REPO_NODE_LABEL_DATA_BYTE_COUNT))
{
std::cerr << "Texture" << std::endl;
data = new std::vector<char>();
RepoTranscoderBSON::retrieve(
obj.getField(REPO_LABEL_DATA),
obj.getField(REPO_NODE_LABEL_DATA_BYTE_COUNT).numberInt(),
data);
}
}
void MongoClient::saveDocument(const mongo::BSONObj &obj, const MongoNamespace &ns)
{
mongo::BSONElement id = obj.getField("_id");
mongo::BSONObjBuilder builder;
builder.append(id);
mongo::BSONObj bsonQuery = builder.obj();
mongo::Query query(bsonQuery);
_dbclient->update(ns.toString(), query, obj, true, false);
checkLastErrorAndThrow(ns.databaseName());
}
void MongoClient::saveDocument(const mongo::BSONObj &obj, const MongoNamespace &ns)
{
mongo::BSONElement id = obj.getField("_id");
mongo::BSONObjBuilder builder;
builder.append(id);
mongo::BSONObj bsonQuery = builder.obj();
mongo::Query query(bsonQuery);
_dbclient->update(ns.toString(), query, obj, true, false);
//_dbclient->save(ns.toString().toStdString(), obj);
}
std::list<mongo::BSONObj> TransformComputable::compute_transform(mongo::BSONObj query, std::string collection)
{
//get positions in other frames
BSONObjBuilder query_other_frames;
query_other_frames.appendElements(query.removeField("frame").removeField("allow_tf"));
query_other_frames.append("frame", fromjson("{$exists:true}"));
QResCursor cur = robot_memory_->query(query_other_frames.obj(), collection);
//transform them is possible
std::list<mongo::BSONObj> res;
std::string target_frame = query.getField("frame").String();
while(cur->more())
{
BSONObj pos = cur->next();
if(pos.hasField("frame") && pos.hasField("translation") && pos.hasField("rotation"))
{
std::string src_frame = pos.getField("frame").String();
Time now(0, 0);
if(tf_->can_transform(target_frame.c_str(), src_frame.c_str(), now))
{
BSONObjBuilder res_pos;
std::vector<BSONElement> src_trans = pos.getField("translation").Array();
std::vector<BSONElement> src_rot = pos.getField("rotation").Array();
fawkes::tf::Transform pose_tf(fawkes::tf::Quaternion(src_rot[0].Double(), src_rot[1].Double(), src_rot[2].Double(), src_rot[3].Double()),
fawkes::tf::Vector3(src_trans[0].Double(), src_trans[1].Double(), src_trans[2].Double()));
fawkes::tf::Stamped<fawkes::tf::Pose> src_stamped_pose(pose_tf, Time(0, 0), src_frame.c_str());
fawkes::tf::Stamped<fawkes::tf::Pose> res_stamped_pose;
tf_->transform_pose(target_frame.c_str(), src_stamped_pose, res_stamped_pose);
res_pos.appendElements(pos.removeField("frame").removeField("translation").removeField("rotation").removeField("_id"));
res_pos.append("frame", target_frame);
res_pos.append("allow_tf", true);
BSONArrayBuilder arrb_trans;
arrb_trans.append(res_stamped_pose.getOrigin().x());
arrb_trans.append(res_stamped_pose.getOrigin().y());
arrb_trans.append(res_stamped_pose.getOrigin().z());
res_pos.append("translation", arrb_trans.arr());
BSONArrayBuilder arrb_rot;
arrb_rot.append(res_stamped_pose.getRotation().x());
arrb_rot.append(res_stamped_pose.getRotation().y());
arrb_rot.append(res_stamped_pose.getRotation().z());
arrb_rot.append(res_stamped_pose.getRotation().w());
res_pos.append("rotation", arrb_rot.arr());
res.push_back(res_pos.obj());
}
// else
// {
// logger_->log_info(name_, "Cant transform %s to %s", src_frame.c_str(), target_frame.c_str());
// }
}
}
return res;
}
std::string CjsonExporter::toCjson(const mongo::BSONObj &mongoChemObj)
{
// Follow the database link and convert to CJSON.
MongoDatabase *db = MongoDatabase::instance();
if (!db)
return "";
mongo::BSONObj structure = mongoChemObj.getObjectField("3dStructure");
if (!structure.hasField("$ref") || !structure.hasField("$id")
|| !structure.getField("$id").isSimpleType()) {
return "";
}
std::auto_ptr<mongo::DBClientCursor> cursor =
db->query(db->databaseName() + "." + structure.getStringField("$ref"),
QUERY("_id" << structure.getField("$id").OID()), 1);
mongo::BSONObj object;
if (cursor->more())
object = cursor->next();
else
return "";
std::vector<std::string> toCopy;
toCopy.push_back("name");
toCopy.push_back("inchi");
toCopy.push_back("formula");
toCopy.push_back("properties");
mongo::BSONObjBuilder builder;
for (size_t i = 0; i < toCopy.size(); i++) {
mongo::BSONElement field = mongoChemObj.getField(toCopy[i]);
if (!field.eoo())
builder.append(field);
}
toCopy.clear();
toCopy.push_back("atoms");
toCopy.push_back("bonds");
for (size_t i = 0; i < toCopy.size(); i++) {
mongo::BSONElement field = object.getField(toCopy[i]);
if (!field.eoo())
builder.append(field);
}
// Add the chemical JSON version field.
builder.append("chemical json", 0);
mongo::BSONObj obj = builder.obj();
return obj.jsonString(mongo::Strict);
}
MongoUser::MongoUser(const float version, const mongo::BSONObj &obj) :
_version(version), _readOnly(false)
{
_id = obj.getField("_id").OID();
_name = BsonUtils::getField<mongo::String>(obj, "user");
_passwordHash = BsonUtils::getField<mongo::String>(obj, "pwd");
if (_version<minimumSupportedVersion) {
_readOnly = BsonUtils::getField<mongo::Bool>(obj, "readOnly");
}
else {
_userSource = BsonUtils::getField<mongo::String>(obj, "userSource");
std::vector<mongo::BSONElement> roles = BsonUtils::getField<mongo::Array>(obj, "roles");
for (std::vector<mongo::BSONElement>::const_iterator it = roles.begin(); it != roles.end(); ++it)
{
_role.push_back(BsonUtils::bsonelement_cast<std::string>(*it));
}
}
}
repo::core::RepoNodeCamera::RepoNodeCamera(const mongo::BSONObj &obj)
: RepoNodeAbstract(obj)
{
//--------------------------------------------------------------------------
// Aspect ratio
if (obj.hasField(REPO_NODE_LABEL_ASPECT_RATIO))
aspectRatio = (float)
obj.getField(REPO_NODE_LABEL_ASPECT_RATIO).numberDouble();
//--------------------------------------------------------------------------
// Far clipping plane
if (obj.hasField(REPO_NODE_LABEL_FAR))
farClippingPlane = (float)
obj.getField(REPO_NODE_LABEL_FAR).numberDouble();
//--------------------------------------------------------------------------
// Near clipping plane
if (obj.hasField(REPO_NODE_LABEL_NEAR))
nearClippingPlane = (float)
obj.getField(REPO_NODE_LABEL_NEAR).numberDouble();
//--------------------------------------------------------------------------
// Field of view
if (obj.hasField(REPO_NODE_LABEL_FOV))
fieldOfView = (float)
obj.getField(REPO_NODE_LABEL_FOV).numberDouble();
//--------------------------------------------------------------------------
// Look at vector
if (obj.hasField(REPO_NODE_LABEL_LOOK_AT))
lookAt = RepoTranscoderBSON::retrieveVector3D(
obj.getField(REPO_NODE_LABEL_LOOK_AT));
//--------------------------------------------------------------------------
// Position vector
if (obj.hasField(REPO_NODE_LABEL_POSITION))
position = RepoTranscoderBSON::retrieveVector3D(
obj.getField(REPO_NODE_LABEL_POSITION));
//--------------------------------------------------------------------------
// Up vector
if (obj.hasField(REPO_NODE_LABEL_UP))
up = RepoTranscoderBSON::retrieveVector3D(
obj.getField(REPO_NODE_LABEL_UP));
}
repo::core::RepoNodeMesh::RepoNodeMesh(
const mongo::BSONObj &obj) : RepoNodeAbstract(obj),
vertices(NULL),
faces(NULL),
normals(NULL),
outline(NULL),
uvChannels(NULL),
colors(NULL)
{
//--------------------------------------------------------------------------
// Vertices
if (obj.hasField(REPO_NODE_LABEL_VERTICES) &&
obj.hasField(REPO_NODE_LABEL_VERTICES_COUNT))
{
vertices = new std::vector<aiVector3t<float>>();
RepoTranscoderBSON::retrieve(
obj.getField(REPO_NODE_LABEL_VERTICES),
obj.getField(REPO_NODE_LABEL_VERTICES_COUNT).numberInt(),
vertices);
}
//--------------------------------------------------------------------------
// Faces
if (obj.hasField(REPO_NODE_LABEL_FACES) &&
obj.hasField(REPO_NODE_LABEL_FACES_COUNT) &&
obj.hasField(REPO_NODE_LABEL_FACES_BYTE_COUNT))
{
faces = new std::vector<aiFace>();
retrieveFacesArray(
obj.getField(REPO_NODE_LABEL_FACES),
api,
obj.getField(REPO_NODE_LABEL_FACES_BYTE_COUNT).numberInt(),
obj.getField(REPO_NODE_LABEL_FACES_COUNT).numberInt(),
faces);
}
//--------------------------------------------------------------------------
// Normals
if (obj.hasField(REPO_NODE_LABEL_NORMALS) &&
obj.hasField(REPO_NODE_LABEL_VERTICES_COUNT))
{
normals = new std::vector<aiVector3t<float> >();
RepoTranscoderBSON::retrieve(
obj.getField(REPO_NODE_LABEL_NORMALS),
obj.getField(REPO_NODE_LABEL_VERTICES_COUNT).numberInt(),
normals);
}
//--------------------------------------------------------------------------
// Polygon mesh outline (2D bounding rectangle in XY for the moment)
//
if (obj.hasField(REPO_NODE_LABEL_OUTLINE))
{
//outline = new std::vector<aiVector2D>();
// TODO: fill in
}
//--------------------------------------------------------------------------
// Bounding box
if (obj.hasField(REPO_NODE_LABEL_BOUNDING_BOX))
{
std::pair<aiVector3D, aiVector3D> min_max = RepoTranscoderBSON::retrieveBBox(
obj.getField(REPO_NODE_LABEL_BOUNDING_BOX));
this->boundingBox.setMin(min_max.first);
this->boundingBox.setMax(min_max.second);
}
//--------------------------------------------------------------------------
// SHA-256 hash
if (obj.hasField(REPO_NODE_LABEL_SHA256))
{
vertexHash = obj.getField(REPO_NODE_LABEL_SHA256).numberInt();
}
//--------------------------------------------------------------------------
// UV channels
if (obj.hasField(REPO_NODE_LABEL_UV_CHANNELS) &&
obj.hasField(REPO_NODE_LABEL_UV_CHANNELS_BYTE_COUNT) &&
obj.hasField(REPO_NODE_LABEL_UV_CHANNELS_COUNT))
{
unsigned int numberOfConcatenatedEntries =
obj.getField(REPO_NODE_LABEL_UV_CHANNELS_COUNT).numberInt() *
obj.getField(REPO_NODE_LABEL_VERTICES_COUNT).numberInt();
std::vector<aiVector2t<float>> concatenated;
RepoTranscoderBSON::retrieve(
obj.getField(REPO_NODE_LABEL_UV_CHANNELS),
numberOfConcatenatedEntries,
&concatenated);
unsigned int channelsCount =
obj.getField(REPO_NODE_LABEL_UV_CHANNELS_COUNT).numberInt();
unsigned int channelSize = (unsigned int) concatenated.size()/channelsCount;
uvChannels =
new std::vector<std::vector<aiVector3t<float>> *>(channelsCount);
// For every uv channel present (usually only one)
for (unsigned int i = 0; i < channelsCount; ++i)
{
uvChannels->at(i) = new std::vector<aiVector3t<float>>();
uvChannels->at(i)->reserve(channelSize);
// Copy over all per vertex UV values
for (unsigned int j = 0; j < channelSize; ++j)
{
aiVector2t<float> uv = concatenated[(i * channelSize) + j];
uvChannels->at(i)->push_back(aiVector3t<float>(uv.x, uv.y, 0));
}
}
}
}