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BaseDataSink Class Reference
Base class for writing messages to a database. More...
Inheritance diagram for BaseDataSink:
Public Member Functions | |
| __init__ (self, args=None, **kwargs) | |
| close (self) | |
| Closes database connection, if any, emits metainfo. | |
| close_output (self) | |
| Closes database connection, if any, executing any pending statements. | |
| emit (self, topic, msg, stamp=None, match=None, index=None) | |
| Writes message to database. | |
| validate (self) | |
| Returns whether args.write_options has valid values, if any. | |
 Public Member Functions inherited from Sink | |
| __init__ (self, args=None, **kwargs) | |
| __enter__ (self) | |
| Context manager entry. | |
| __exit__ (self, exc_type, exc_value, traceback) | |
| Context manager exit, closes sink. | |
| autodetect (cls, target) | |
| Returns true if target is recognizable as output for this sink class. | |
| bind (self, source) | |
| Attaches source to sink. | |
| close (self) | |
| Shuts down output, closing any files or connections. | |
| configure (self, args=None, **kwargs) | |
| Updates sink configuration. | |
| emit (self, topic, msg, stamp=None, match=None, index=None) | |
| Outputs ROS message. | |
| emit_meta (self) | |
| Outputs source metainfo like bag header as debug stream, if not already emitted. | |
| flush (self) | |
| Writes out any pending data to disk. | |
| is_highlighting (self) | |
| Returns whether this sink requires highlighted matches. | |
| thread_excepthook (self, text, exc) | |
| Handles exception, used by background threads. | |
| validate (self) | |
| Returns whether sink prerequisites are met (like ROS environment set if LiveSink). | |
| __init__ (self, args=None, **kwargs) | |
| close (self) | |
| Clears data structures. | |
| validate (self) | |
| Returns whether arguments are valid. | |
Public Attributes | |
| close | |
| COMMIT_INTERVAL | |
| db | |
| Database connection. | |
| Public Attributes inherited from Sink | |
| args | |
| source | |
| inputs.Source instance bound to this sink | |
| valid | |
| Result of validate() | |
| Public Attributes inherited from SqlMixin | |
| DIALECTS | |
Static Public Attributes | |
| int | COMMIT_INTERVAL = 1000 |
| Number of emits between commits; 0 is autocommit. | |
| DEFAULT_ARGS = dict(META=False, WRITE_OPTIONS={}, VERBOSE=False) | |
| Constructor argument defaults. | |
| ENGINE = None | |
| Database engine name, overridden in subclasses. | |
| list | MESSAGE_TYPE_BASECOLS |
| Default columns for pkg/MsgType tables. | |
| list | MESSAGE_TYPE_NESTCOLS |
| Additional default columns for pkg/MsgType tables with nesting output. | |
| list | MESSAGE_TYPE_TOPICCOLS |
| Default topic-related columns for pkg/MsgType tables. | |
| Static Public Attributes inherited from Sink | |
| DEFAULT_ARGS = dict(META=False) | |
| Constructor argument defaults. | |
| tuple | FILE_EXTENSIONS = () |
| Auto-detection file extensions for subclasses, as (".ext", ) | |
| Static Public Attributes inherited from SqlMixin | |
| DEFAULT_ARGS = dict(WRITE_OPTIONS={}) | |
| Constructor argument defaults. | |
| str | DEFAULT_DIALECT = "sqlite" |
| Default SQL dialect used if dialect not specified. | |
| dict | DIALECTS |
| Supported SQL dialects and options. | |
| list | KEYWORDS |
| Words that need quoting if in name context, like table name. | |
Detailed Description
Base class for writing messages to a database.
Output will have:
- table "topics", with topic and message type names
- table "types", with message type definitions
plus:
- table "pkg/MsgType" for each topic message type, with detailed fields, BYTEA fields for uint8[], array fields for scalar list attributes, and JSONB fields for lists of ROS messages; with foreign keys if nesting else subtype values as JSON dictionaries; plus underscore-prefixed fields for metadata, like
_topicas the topic name. If not nesting, only topic message type tables are created. - view "/full/topic/name" for each topic, selecting from the message type table
If a message type table already exists but for a type with a different MD5 hash, the new table will have its MD5 hash appended to end, as "pkg/MsgType (hash)".
Constructor & Destructor Documentation
◆ __init__()
| __init__ | ( | self, | |
args = None, |
|||
| ** | kwargs | ||
| ) |
- Parameters
-
args arguments as namespace or dictionary, case-insensitive; or a single item as the database connection string args.write database connection string args.write_options {"commit-interval": transaction size (0 is autocommit), "nesting": "array" to recursively insert arrays of nested types, or "all" for any nesting)}args.meta whether to emit metainfo args.verbose whether to emit debug information kwargs any and all arguments as keyword overrides, case-insensitive
Reimplemented from Sink.
Reimplemented in PostgresSink, and SqliteSink.
Member Function Documentation
◆ close()
| close | ( | self | ) |
◆ close_output()
| close_output | ( | self | ) |
◆ emit()
| emit | ( | self, | |
| topic, | |||
| msg, | |||
stamp = None, |
|||
match = None, |
|||
index = None |
|||
| ) |
◆ validate()
| validate | ( | self | ) |
Returns whether args.write_options has valid values, if any.
Checks parameters "commit-interval" and "nesting".
Reimplemented from Sink.
Reimplemented in PostgresSink, and SqliteSink.
Member Data Documentation
◆ close
◆ COMMIT_INTERVAL [1/2]
|
static |
◆ COMMIT_INTERVAL [2/2]
◆ db
◆ DEFAULT_ARGS
|
static |
◆ ENGINE
|
static |
◆ MESSAGE_TYPE_BASECOLS
|
static |
◆ MESSAGE_TYPE_NESTCOLS
|
static |
◆ MESSAGE_TYPE_TOPICCOLS
|
static |
The documentation for this class was generated from the following file:
- grepros/plugins/auto/dbbase.py
