Merge pull request cram2#188 from duc89/onto_iri_error_catch

Catch remote ontology loading error by owlready2

src/pycram/ontology/ontology.py

@@ -8,13 +8,13 @@
 from pathlib import Path
 from typing import Callable, Dict, List, Optional, Type, Tuple, Union
 
-import owlready2
 import rospy
 
 from owlready2 import (Namespace, Ontology, World as OntologyWorld, Thing, EntityClass, Imp,
                        Property, ObjectProperty, OwlReadyError, types,
                        onto_path, default_world, get_namespace, get_ontology, destroy_entity,
-                       sync_reasoner_pellet, sync_reasoner_hermit)
+                       sync_reasoner_pellet, sync_reasoner_hermit,
+                       OwlReadyOntologyParsingError)
 from owlready2.class_construct import GeneralClassAxiom
 
 from ..datastructures.enums import ObjectType
@@ -74,22 +74,11 @@ def __init__(self, main_ontology_iri: Optional[str] = None, ontology_search_path
         #: Namespace of the main ontology
         self.main_ontology_namespace: Optional[Namespace] = None
 
-        # Create the main ontology world holding triples, of which a sqlite3 file path, of same name with `main_ontology` &
-        # at the same folder with `main_ontology_iri` (if it is a local abosulte path), is automatically registered as cache of the world
-        self.main_ontology_world = self.create_ontology_world(
-            sql_backend_filename=os.path.join(self.get_main_ontology_dir(),
-                                              f"{Path(self.main_ontology_iri).stem}{ONTOLOGY_SQL_BACKEND_FILE_EXTENSION}"),
-            use_global_default_world=use_global_default_world)
+        # Create the main ontology world holding triples
+        self.create_main_ontology_world(use_global_default_world=use_global_default_world)
 
-        # Load ontologies from `main_ontology_iri` to `main_ontology_world`
-        # If `main_ontology_iri` is a remote URL, Owlready2 first searches for a local copy of the OWL file (from `onto_path`),
-        # if not found, tries to download it from the Internet.
-        ontology_info = self.load_ontology(self.main_ontology_iri)
-        if ontology_info:
-            self.main_ontology, self.main_ontology_namespace = ontology_info
-            if self.main_ontology and self.main_ontology.loaded:
-                self.soma = self.ontologies.get(SOMA_ONTOLOGY_NAMESPACE)
-                self.dul = self.ontologies.get(DUL_ONTOLOGY_NAMESPACE)
+        # Create the main ontology & its namespace, fetching :attr:`soma`, :attr:`dul` if loading from SOMA ontology
+        self.create_main_ontology()
 
     @staticmethod
     def print_ontology_class(ontology_class: Type[Thing]):
@@ -160,6 +149,19 @@ def get_main_ontology_dir(self) -> Optional[str]:
         return os.path.dirname(self.main_ontology_iri) if os.path.isabs(
             self.main_ontology_iri) else self.get_default_ontology_search_path()
 
+    def create_main_ontology_world(self, use_global_default_world: bool = True) -> None:
+        """
+        Create the main ontology world, either reusing the owlready2-provided global default ontology world or create a new one
+        A backend sqlite3 file of same name with `main_ontology` is also created at the same folder with :attr:`main_ontology_iri`
+        (if it is a local absolute path). The file is automatically registered as cache for the main ontology world.
+
+        :param use_global_default_world: whether or not using the owlready2-provided global default persistent world
+        """
+        self.main_ontology_world = self.create_ontology_world(
+            sql_backend_filename=os.path.join(self.get_main_ontology_dir(),
+                                              f"{Path(self.main_ontology_iri).stem}{ONTOLOGY_SQL_BACKEND_FILE_EXTENSION}"),
+            use_global_default_world=use_global_default_world)
+
     @staticmethod
     def create_ontology_world(use_global_default_world: bool = False,
                               sql_backend_filename: Optional[str] = None) -> OntologyWorld:
@@ -189,6 +191,22 @@ def create_ontology_world(use_global_default_world: bool = False,
             rospy.loginfo(f"Created a new ontology world with SQL backend: {sql_backend_name}")
         return world
 
+    def create_main_ontology(self) -> bool:
+        """
+        Load ontologies from :attr:`main_ontology_iri` to :attr:`main_ontology_world`
+        If `main_ontology_iri` is a remote URL, Owlready2 first searches for a local copy of the OWL file (from `onto_path`),
+        if not found, tries to download it from the Internet.
+
+        :return: True if loading succeeds
+        """
+        ontology_info = self.load_ontology(self.main_ontology_iri)
+        if ontology_info:
+            self.main_ontology, self.main_ontology_namespace = ontology_info
+            if self.main_ontology and self.main_ontology.loaded:
+                self.soma = self.ontologies.get(SOMA_ONTOLOGY_NAMESPACE)
+                self.dul = self.ontologies.get(DUL_ONTOLOGY_NAMESPACE)
+        return ontology_info is not None
+
     def load_ontology(self, ontology_iri: str) -> Optional[Tuple[Ontology, Namespace]]:
         """
         Load an ontology from an IRI
@@ -200,19 +218,32 @@ def load_ontology(self, ontology_iri: str) -> Optional[Tuple[Ontology, Namespace
             rospy.logerr("Ontology IRI is empty")
             return None
 
-        # If `ontology_iri` is a local path -> create an empty ontology file if not existing
-        if not (ontology_iri.startswith("http:") or ontology_iri.startswith("https:")) \
-                and not Path(ontology_iri).exists():
+        is_local_ontology_iri = not (ontology_iri.startswith("http:") or ontology_iri.startswith("https:"))
+
+        # If `ontology_iri` is a local path
+        if is_local_ontology_iri and not Path(ontology_iri).exists():
+            # -> Create an empty ontology file if not existing
             with open(ontology_iri, 'w'):
                 pass
 
         # Load ontology from `ontology_iri`
-        if self.main_ontology_world:
-            ontology = self.main_ontology_world.get_ontology(ontology_iri).load(reload_if_newer=True)
-        else:
-            ontology = get_ontology(ontology_iri).load(reload_if_newer=True)
+        ontology = None
+        try:
+            if self.main_ontology_world:
+                ontology = self.main_ontology_world.get_ontology(ontology_iri).load(reload_if_newer=True)
+            else:
+                ontology = get_ontology(ontology_iri).load(reload_if_newer=True)
+        except OwlReadyOntologyParsingError as error:
+            rospy.logwarn(error)
+            if is_local_ontology_iri:
+                rospy.logerr(f"Main ontology failed being loaded from {ontology_iri}")
+            else:
+                rospy.logwarn(f"Main ontology failed being downloaded from the remote {ontology_iri}")
+            return None
+
+        # Browse loaded `ontology`, fetching sub-ontologies
         ontology_namespace = get_namespace(ontology_iri)
-        if ontology.loaded:
+        if ontology and ontology.loaded:
             rospy.loginfo(
                 f'Ontology [{ontology.base_iri}]\'s name: {ontology.name} has been loaded')
             rospy.loginfo(f'- main namespace: {ontology_namespace.name}')

test/test_action_designator.py

@@ -17,16 +17,13 @@ class TestActionDesignatorGrounding(BulletWorldTestCase):
 
     def test_move_torso(self):
         description = action_designator.MoveTorsoAction([0.3])
-        # SOMA ontology seems not provide a corresponding concept yet for MoveTorso
-        #self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().position, 0.3)
         with simulated_robot:
             description.resolve().perform()
         self.assertEqual(self.world.robot.get_joint_position(RobotDescription.current_robot_description.torso_joint), 0.3)
 
     def test_set_gripper(self):
         description = action_designator.SetGripperAction([Arms.LEFT], [GripperState.OPEN, GripperState.CLOSE])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().gripper, Arms.LEFT)
         self.assertEqual(description.ground().motion, GripperState.OPEN)
         self.assertEqual(len(list(iter(description))), 2)
@@ -38,21 +35,18 @@ def test_set_gripper(self):
     def test_release(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.ReleaseAction([Arms.LEFT], object_description)
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().gripper, Arms.LEFT)
         self.assertEqual(description.ground().object_designator.name, "milk")
 
     def test_grip(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.GripAction([Arms.LEFT], object_description, [0.5])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().gripper, Arms.LEFT)
         self.assertEqual(description.ground().object_designator.name, "milk")
 
     def test_park_arms(self):
         description = action_designator.ParkArmsAction([Arms.BOTH])
         self.assertEqual(description.ground().arm, Arms.BOTH)
-        self.assertTrue(description.ontology_concept_holders)
         with simulated_robot:
             description.resolve().perform()
         for joint, pose in RobotDescription.current_robot_description.get_static_joint_chain("right", "park").items():
@@ -66,13 +60,11 @@ def test_navigate(self):
         with simulated_robot:
             description.resolve().perform()
         self.assertEqual(description.ground().target_location, Pose([1, 0, 0], [0, 0, 0, 1]))
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(self.robot.get_pose(), Pose([1, 0, 0]))
 
     def test_pick_up(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.PickUpAction(object_description, [Arms.LEFT], [Grasp.FRONT])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().object_designator.name, "milk")
         with simulated_robot:
             NavigateActionPerformable(Pose([0.6, 0.4, 0], [0, 0, 0, 1])).perform()
@@ -83,7 +75,6 @@ def test_pick_up(self):
     def test_place(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.PlaceAction(object_description, [Pose([1.3, 1, 0.9], [0, 0, 0, 1])], [Arms.LEFT])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().object_designator.name, "milk")
         with simulated_robot:
             NavigateActionPerformable(Pose([0.6, 0.4, 0], [0, 0, 0, 1])).perform()
@@ -94,7 +85,6 @@ def test_place(self):
 
     def test_look_at(self):
         description = action_designator.LookAtAction([Pose([1, 0, 1])])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().target, Pose([1, 0, 1]))
         with simulated_robot:
             description.resolve().perform()
@@ -105,7 +95,6 @@ def test_detect(self):
         self.milk.set_pose(Pose([1.5, 0, 1.2]))
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.DetectAction(object_description)
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().object_designator.name, "milk")
         with simulated_robot:
             detected_object = description.resolve().perform()
@@ -118,14 +107,12 @@ def test_detect(self):
     def test_open(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.OpenAction(object_description, [Arms.LEFT])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().object_designator.name, "milk")
 
     @unittest.skip
     def test_close(self):
         object_description = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.CloseAction(object_description, [Arms.LEFT])
-        self.assertTrue(description.ontology_concept_holders)
         self.assertEqual(description.ground().object_designator.name, "milk")
 
     def test_transport(self):
@@ -134,7 +121,6 @@ def test_transport(self):
                                                         [Arms.LEFT],
                                                         [Pose([-1.35, 0.78, 0.95],
                                                               [0.0, 0.0, 0.16439898301071468, 0.9863939245479175])])
-        self.assertTrue(description.ontology_concept_holders)
         with simulated_robot:
             action_designator.MoveTorsoAction([0.2]).resolve().perform()
             description.resolve().perform()
@@ -148,7 +134,6 @@ def test_grasping(self):
         self.robot.set_pose(Pose([-2.14, 1.06, 0]))
         milk_desig = object_designator.ObjectDesignatorDescription(names=["milk"])
         description = action_designator.GraspingAction([Arms.RIGHT], milk_desig)
-        self.assertTrue(description.ontology_concept_holders)
         with simulated_robot:
             description.resolve().perform()
         dist = np.linalg.norm(

test/test_ontology.py

@@ -30,7 +30,7 @@
 from pycram.ontology.ontology_common import (OntologyConceptHolderStore, OntologyConceptHolder,
                                              ONTOLOGY_SQL_BACKEND_FILE_EXTENSION, ONTOLOGY_OWL_FILE_EXTENSION)
 
-
+DEFAULT_LOCAL_ONTOLOGY_IRI = "default.owl"
 class TestOntologyManager(unittest.TestCase):
     ontology_manager: OntologyManager
     main_ontology: Optional[owlready2.Ontology]
@@ -39,15 +39,19 @@ class TestOntologyManager(unittest.TestCase):
 
     @classmethod
     def setUpClass(cls):
+        # Try loading from remote `SOMA_ONTOLOGY_IRI`, which will fail given no internet access
         cls.ontology_manager = OntologyManager(SOMA_ONTOLOGY_IRI)
         if cls.ontology_manager.initialized():
-            cls.main_ontology = cls.ontology_manager.main_ontology
             cls.soma = cls.ontology_manager.soma
             cls.dul = cls.ontology_manager.dul
         else:
-            cls.main_ontology = None
+            # Else, load from `DEFAULT_LOCAL_ONTOLOGY_IRI`
             cls.soma = None
             cls.dul = None
+            cls.ontology_manager.main_ontology_iri = DEFAULT_LOCAL_ONTOLOGY_IRI
+            cls.ontology_manager.create_main_ontology_world()
+            cls.ontology_manager.create_main_ontology()
+        cls.main_ontology = cls.ontology_manager.main_ontology
 
     @classmethod
     def tearDownClass(cls):
@@ -234,7 +238,7 @@ def test_ontology_reasoning(self):
                                                                              ontology_property_parent_class=owlready2.ObjectProperty,
                                                                              ontology=reasoning_ontology))
 
-        # Define rules for "bigger_than" in [reasoning_ontology]
+        # Define rules for `transportability` & `co-residence` in [reasoning_ontology]
         with reasoning_ontology:
             def can_transport_itself(a: reasoning_ontology.Entity) -> bool:
                 return a in a.can_transport
@@ -300,6 +304,5 @@ def test_ontology_save(self):
         self.assertTrue(Path(owl_filepath).is_file())
         self.assertTrue(Path(sql_filepath).is_file())
 
-
 if __name__ == '__main__':
     unittest.main()