Improve storage node startup behavior, added tip for populating start…

…ing db tables

infra/ros/storage/Dockerfile

@@ -3,5 +3,5 @@ ARG L2NODES=node.py
 FROM l2base-pre
 FROM l2base-post
 
-RUN pip3 install psycopg2-binary watchdog
+RUN apt-get update && apt-get install --no-install-recommends -y python3-pip && pip3 install psycopg2-binary watchdog && apt-get clean
 COPY --from=0 /node/install /node/install

infra/ros/storage/files/.demo.wbproj

@@ -0,0 +1,11 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff000000010000011c000006dbfc0200000001fb0000001400540065007800740045006400690074006f00720100000024000006db0000003f00ffffff0000000300000bb700000061fc0100000001fb0000000e0043006f006e0073006f006c0065010000000000000bb70000006900ffffff00000a99000006db00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000009990100000002010000000100
+sceneTreePerspectives: 000000ff000000010000000200000610000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 1
+textFiles: -1
+renderingDevicePerspectives: range:rangefinder;1;3.21875;0;0

infra/ros/storage/files/.pendant.wbproj

@@ -0,0 +1,10 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000000750000021ffc0200000001fb0000001400540065007800740045006400690074006f007201000000150000021f0000003f00ffffff00000003000004d20000007efc0100000001fb0000000e0043006f006e0073006f006c00650100000000000004d20000006900ffffff0000045b0000021f00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff0000000100000002000000fa0000035f0100000002010000000100
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 1
+textFiles: -1

infra/ros/storage/files/.rangefinder.wbproj

@@ -0,0 +1,12 @@
+Webots Project File version R2020a
+perspectives: 000000ff00000000fd00000003000000000000000000000000fc0100000001fb0000001a0044006f00630075006d0065006e0074006100740069006f006e0000000000ffffffff0000006900ffffff00000001000001cd0000027afc0200000001fb0000001400540065007800740045006400690074006f007201000000160000027a0000003f00ffffff000000030000053e0000007efc0100000001fb0000000e0043006f006e0073006f006c006501000000000000053e0000006900ffffff0000036f0000027a00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff000000010000000200000100000003be0100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000020000024d000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+selectionDisabled: 0
+viewpointLocked: 0
+orthographicViewHeight: 1
+textFiles: -1
+renderingDevicePerspectives: range:rangefinder;1;1;0;0
+renderingDevicePerspectives: testrobot:rangefinder;1;1.375;0;0

infra/ros/storage/files/README.md

@@ -0,0 +1,5 @@
+Table initialization:
+
+```
+docker exec -it storage_db_1 psql app_db app_user -f /volume/test_db.sql
+```

infra/ros/storage/node.py

@@ -1,5 +1,6 @@
 from l2_msgs.srv import GetProject, GetFile, GetObject3D
 from l2_msgs.msg import Object3D
+import time
 
 import rclpy
 from rclpy.node import Node
@@ -108,12 +109,19 @@ def connect_to_db(self):
         database = result.path[1:]
         hostname = result.hostname
 
-        self.con = psycopg2.connect(
-                        database=database, 
-                        user=username, 
-                        password=password, 
-                        host=hostname)
+        while True:
+            try:
+                self.con = psycopg2.connect(
+                            database=database, 
+                            user=username, 
+                            password=password, 
+                            host=hostname)
+                break
+            except:
+                self.get_logger().warn("Failed to connect to db; waiting a bit then retrying...")
+                time.sleep(5)
         self.get_logger().info("Connected (host: %s, db: %s)" % (hostname, database))
+        self.get_logger().info("TODO: ensure initial tables are set up")
 
     def get_project_callback(self, request, response):
         self.get_logger().info(str(request))