22 #include "mongodb_log_bb_thread.h" 23 #include "mongodb_log_image_thread.h" 24 #include "mongodb_log_pcl_thread.h" 25 #include "mongodb_log_logger_thread.h" 26 #include "mongodb_log_tf_thread.h" 28 #include <core/plugin.h> 45 bool enable_bb =
true;
47 enable_bb = config->
get_bool(
"/plugins/mongodb-log/enable-blackboard");
53 bool enable_pcls =
true;
55 enable_pcls = config->
get_bool(
"/plugins/mongodb-log/enable-pointclouds");
61 bool enable_images =
true;
63 enable_images = config->
get_bool(
"/plugins/mongodb-log/enable-images");
69 bool enable_logger =
true;
71 enable_logger = config->
get_bool(
"/plugins/mongodb-log/enable-logger");
77 bool enable_tf =
true;
79 enable_tf = config->
get_bool(
"/plugins/mongodb-log/enable-transforms");
85 if (thread_list.empty()) {
86 throw Exception(
"MongoLogPlugin: no logging thread enabled");
89 std::string database = config->
get_string(
"/plugins/mongodb-log/database");
90 config->
set_string(
"/plugins/mongorrd/databases/mongodb-log", database);
97 config->
erase(
"/plugins/mongorrd/databases/mongodb-log");
104 PLUGIN_DESCRIPTION(
"Logging of BlackBoard data to MongoDB")
Thread that provides a logger writing to MongoDB.
Fawkes library namespace.
virtual bool get_bool(const char *path)=0
Get value from configuration which is of type bool.
virtual void erase(const char *path)=0
Erase the given value from the configuration.
Base class for exceptions in Fawkes.
Thread to store point clouds to MongoDB.
Thread to export Fawkes images to MongoDB.
MongoLogPlugin(Configuration *config)
Constructor.
Interface for configuration handling.
virtual void set_string(const char *path, std::string &s)=0
Set new value in configuration of type string.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.