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added param for timeout, added retries #1008

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merged 1 commit into from Aug 20, 2018
Merged

added param for timeout, added retries #1008

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21 changes: 17 additions & 4 deletions moveit_ros/warehouse/warehouse/src/warehouse_services.cpp
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Expand Up @@ -130,21 +130,34 @@ int main(int argc, char** argv)

ros::NodeHandle node;
std::string host;

int port;
float connection_timeout;
int connection_retries;

node.param<std::string>("warehouse_host", host, "localhost");
node.param<int>("warehouse_port", port, 33829);
node.param<float>("warehouse_db_connection_timeout", connection_timeout, 5.0);
node.param<int>("warehouse_db_connection_retries", connection_retries, 5);

warehouse_ros::DatabaseConnection::Ptr conn;

try
{
conn = moveit_warehouse::loadDatabase();
conn->setParams(host, port, 5.0);
conn->setParams(host, port, connection_timeout);

ROS_INFO("Connecting to warehouse on %s:%d", host.c_str(), port);
if (!conn->connect())
int tries = 0;
while (!conn->connect())
{
ROS_ERROR("Failed to connect to DB on %s:%d", host.c_str(), port);
return 1;
++tries;
ROS_WARN("Failed to connect to DB on %s:%d (try %d/%d).", host.c_str(), port, tries, connection_retries);
if (tries == connection_retries)
{
ROS_FATAL("Failed to connect too many times, giving up");
return 1;
}
}
}
catch (std::exception& ex)
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