task_query.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import mongodb_store_msgs.srv as dc_srv
import mongodb_store.util as dc_util
from mongodb_store.message_store import MessageStoreProxy
from strands_executive_msgs.msg import Task, TaskEvent
from datetime import datetime
from task_executor import task_routine

def remove_duplicates(results):
    seen = set()
    seen_add = seen.add
    return [ x for x in results if x[0] not in seen and not seen_add(x[0])]

def query_tasks(msg_store, task_id=None, action=None, start_date=None, end_date=None, event=None):
    msg_query = {}
    meta_query = {}


    if task_id is not None:
        msg_query["task.task_id"] = task_id

    if action is not None:
        msg_query["task.action"] = action        

    if event is not None:
        if not isinstance(event, list):
            event = [event]

        # create a disjunctive query over events
        event_qs = []
        for e in event:
            event_qs.append({'event': e})        

        msg_query['$or'] = event_qs

    if start_date is not None:
        if end_date is None:
            meta_query["inserted_at"] = {"$gte": start_date}
        else:
            meta_query["inserted_at"] = {"$gte": start_date, "$lte" : end_date}    
    elif end_date is not None:
        meta_query["inserted_at"] = {"$lte": end_date}


    results = msg_store.query(TaskEvent._type, message_query=msg_query, 
                            meta_query=meta_query, single=False)


    # results.sort(key=lambda x: x[1]["inserted_at"])
    results.sort(key=lambda x: x[0].time.to_sec())

    return results

def task_event_string(te):
    if te == TaskEvent.ADDED:
        return 'ADDED'
    elif te == TaskEvent.DEMANDED:
        return 'DEMANDED'
    elif te == TaskEvent.TASK_STARTED:
        return 'TASK_STARTED'
    elif te == TaskEvent.NAVIGATION_STARTED:
        return 'NAVIGATION_STARTED'
    elif te == TaskEvent.NAVIGATION_SUCCEEDED:
        return 'NAVIGATION_SUCCEEDED'
    elif te == TaskEvent.NAVIGATION_FAILED:
        return 'NAVIGATION_FAILED'
    elif te == TaskEvent.NAVIGATION_PREEMPTED:
        return 'NAVIGATION_PREEMPTED'
    elif te == TaskEvent.EXECUTION_STARTED:
        return 'EXECUTION_STARTED'
    elif te == TaskEvent.EXECUTION_SUCCEEDED:
        return 'EXECUTION_SUCCEEDED'
    elif te == TaskEvent.EXECUTION_FAILED:
        return 'EXECUTION_FAILED'
    elif te == TaskEvent.EXECUTION_PREEMPTED:
        return 'EXECUTION_PREEMPTED'
    elif te == TaskEvent.CANCELLED_MANUALLY:
        return 'CANCELLED_MANUALLY'
    elif te == TaskEvent.DROPPED:
        return 'DROPPED'    
    elif te == TaskEvent.TASK_FINISHED:
        return 'TASK_FINISHED'    
    elif te == TaskEvent.TASK_FAILED:
        return 'TASK_FAILED'
    elif te == TaskEvent.TASK_SUCCEEDED:
        return 'TASK_SUCCEEDED'
    elif te == TaskEvent.TASK_PREEMPTED:
        return 'TASK_PREEMPTED'    



def print_event(task_event):
    """ Prints a single event """
    print 'task %s\t%s\t%s\t%s\t%s' % (task_event.task.task_id, task_event.task.action, task_event.task.start_node_id, task_event_string(task_event.event), datetime.utcfromtimestamp(task_event.time.to_sec()).strftime('%d/%m/%y %H:%M:%S'))

def summarise(results):

    if len(results) == 0:
        print 'No task events match the query'
        return 
        
    output = []
    tid = 0

    for task_event, meta in results:
        if task_event.task.action == '':
            task_event.task.action = 'no action'

        if task_event.event > TaskEvent.DEMANDED:
            if task_event.task.task_id != tid:
                tid = task_event.task.task_id
                output.append('\n')
                       
            output.append(['task %s' % task_event.task.task_id, task_event.task.action, task_event.task.start_node_id, task_event_string(task_event.event), datetime.utcfromtimestamp(task_event.time.to_sec()).strftime('%d/%m/%y %H:%M:%S')])

    # http://stackoverflow.com/a/9989441/135585
    col_width = max(len(word) for row in output for word in row) + 4  # padding for row in output:
    for row in output:
        if isinstance(row, list):
            print "".join(word.ljust(col_width) for word in row)
        else:
            print row


def mkdatetime(date_string):
    return datetime.strptime(date_string, '%d/%m/%y %H:%M')