fix tests for timeinterval vector query

examples/python/gRPC/images/gRPC_fb_queryImages.py

@@ -16,7 +16,7 @@
     createPoint2d,
     createPolygon2D,
     createQuery,
-    createTimeInterval,
+    createTimeIntervalVector,
     createTimeStamp,
     getOrCreateProject,
 )
@@ -92,9 +92,16 @@ def query_images(
 
     polygon_2d = createPolygon2D(fbb, 700, -100, vertices)
 
-    time_min = createTimeStamp(fbb, 1610549273, 0)
-    time_max = createTimeStamp(fbb, 1938549273, 0)
-    time_interval = createTimeInterval(fbb, time_min, time_max)
+    time_min = []
+    time_max = []
+
+    time_min.append(createTimeStamp(fbb, 1661336500, 0))
+    time_min.append(createTimeStamp(fbb, 1661336560, 0))
+
+    time_max.append(createTimeStamp(fbb, 1661336550, 0))
+    time_max.append(createTimeStamp(fbb, 1661336600, 0))
+
+    time_intervals = createTimeIntervalVector(fbb, time_min, time_max)
 
     project_uuids = [project_uuid]
 
@@ -116,6 +123,7 @@ def query_images(
         fbb,
         grpc_channel,
         project_uuid,
+        timeIntervalVector=time_intervals,
         # polygon2d=polygon_2d,
         polygon2dSensorPos=polygon_2d,
         labels=labelsCategory,

examples/python/gRPC/images/gRPC_pb_queryImage.py

@@ -13,6 +13,7 @@
 from seerep.pb import meta_operations_pb2_grpc as metaOperations
 from seerep.pb import point2d_pb2 as point2d
 from seerep.pb import query_pb2 as query
+from seerep.pb import time_interval_pb2 as timeInterval
 from seerep.util.common import get_gRPC_channel
 
 
@@ -62,10 +63,12 @@ def query_images(
     theQuery.polygon.vertices.extend(vertices)
 
     # since epoche
-    theQuery.timeinterval.time_min.seconds = 1638549273
-    theQuery.timeinterval.time_min.nanos = 0
-    theQuery.timeinterval.time_max.seconds = 1938549273
-    theQuery.timeinterval.time_max.nanos = 0
+    time = timeInterval.TimeInterval()
+    time.time_min.seconds = 1638549273
+    time.time_min.nanos = 0
+    time.time_max.seconds = 1938549273
+    time.time_max.nanos = 0
+    theQuery.timeintervals.append(time)
 
     # labels
     labelsCategory = label_category_pb2.LabelCategory()

examples/python/gRPC/images/gRPC_pb_queryImageGrid.py

@@ -11,6 +11,7 @@
 from seerep.pb import meta_operations_pb2_grpc as metaOperations
 from seerep.pb import point2d_pb2 as point2d
 from seerep.pb import query_pb2 as query
+from seerep.pb import time_interval_pb2 as timeInterval
 from seerep.util.common import get_gRPC_channel
 
 OFFSET = 0.5
@@ -42,10 +43,12 @@ def query_image_grid(
     theQuery.projectuuid.append(target_project_uuid)
 
     # since epoche
-    theQuery.timeinterval.time_min.seconds = 1638549273
-    theQuery.timeinterval.time_min.nanos = 0
-    theQuery.timeinterval.time_max.seconds = 1938549273
-    theQuery.timeinterval.time_max.nanos = 0
+    time = timeInterval.TimeInterval()
+    time.time_min.seconds = 1638549273
+    time.time_min.nanos = 0
+    time.time_max.seconds = 1938549273
+    time.time_max.nanos = 0
+    theQuery.timeintervals.append(time)
 
     theQuery.polygon.z = -1
     theQuery.polygon.height = 7

examples/python/gRPC/util/fb_helper.py

@@ -629,7 +629,7 @@ def addToPointFieldVector(builder: Builder, pointFieldList: List[int]) -> int:
 
 def createQuery(
     builder: Builder,
-    timeInterval: Union[int, None] = None,
+    timeIntervalVector: Union[int, None] = None,
     labels: Union[List[int], None] = None,
     mustHaveAllLabels: bool = False,
     projectUuids: List[str] = None,
@@ -647,8 +647,9 @@ def createQuery(
 
     Args:
         builder: A flatbuffers Builder
-        timeInterval: The pointer to a TimeInterval object representing the time
-        frame of the returned instances labels: A list of pointers to\
+        timeIntervalVector: The pointer to vector of TimeInterval objects
+        representing the time frames
+        labels: A list of pointers to\
             [LabelsWithInstanceWithCategory](https://github.com/agri-gaia/seerep/blob/main/seerep_msgs/fbs/labels_with_instance_with_category.fbs)\
             flatbuffers objects, which the instances should atleast have one of
         mustHaveAllLabels: A boolean indicating if the returned instances should
@@ -714,8 +715,8 @@ def createQuery(
         Query.AddPolygon(builder, polygon2d)
     if polygon2dSensorPos:
         Query.AddPolygonSensorPosition(builder, polygon2dSensorPos)
-    if timeInterval:
-        Query.AddTimeinterval(builder, timeInterval)
+    if timeIntervalVector:
+        Query.AddTimeintervals(builder, timeIntervalVector)
     if labels:
         Query.AddLabel(builder, labelOffset)
     # no if; has default value
@@ -754,6 +755,33 @@ def createQueryInstance(builder: Builder, query: int, datatype: int) -> int:
     return QueryInstance.End(builder)
 
 
+def createTimeIntervalVector(
+    builder: Builder, timeMinList: List[int], timeMaxList: List[int]
+) -> int:
+    """
+    Create a vector of closed time intervals in flatbuffers.
+
+    Args:
+        builder: A flatbuffers Builder
+        timeMinList: The list of pointers to the Timestamp objects representing
+            the lower bound of the time of the intervals
+        timeMaxList: The list of pointers to the Timestamp objects representing
+            the upper bound of the time of the intervals
+
+    Returns:
+        A pointer to the constructed time interval vector object
+    """
+    intervals = []
+    for timeMin, timeMax in zip(timeMinList, timeMaxList):
+        intervals.append(createTimeInterval(builder, timeMin, timeMax))
+
+    Query.StartTimeintervalsVector(builder, len(intervals))
+    for interval in intervals:
+        builder.PrependUOffsetTRelative(interval)
+
+    return builder.EndVector()
+
+
 def createTimeInterval(builder: Builder, timeMin: int, timeMax: int) -> int:
     """
     Create a closed time interval in flatbuffers.

tests/python/gRPC/instances/test_gRPC_fb_getInstances.py

@@ -249,21 +249,29 @@ def test_gRPC_getInstanceQueryTimeinterval(grpc_channel, project_setup):
     min_time_ = cur_time - time_offset
     max_time_ = cur_time + time_offset
 
-    query_builder = FbQuery(grpc_channel, enum_types={EnumFbQuery.TIMEINTERVAL})
+    query_builder = FbQuery(
+        grpc_channel, enum_types={EnumFbQuery.TIMEINTERVALVECTOR}
+    )
     queryinst_builder = FbQueryInstance(
         grpc_channel, enum_types={EnumFbQueryInstance.QUERY}
     )
 
     # test for time interval
-    min_timestamp = fbh.createTimeStamp(queryinst_builder.builder, min_time_, 0)
-    max_timestamp = fbh.createTimeStamp(queryinst_builder.builder, max_time_, 0)
+    min_timestamp = []
+    max_timestamp = []
+    min_timestamp.append(
+        fbh.createTimeStamp(queryinst_builder.builder, min_time_, 0)
+    )
+    max_timestamp.append(
+        fbh.createTimeStamp(queryinst_builder.builder, max_time_, 0)
+    )
 
-    img_time_interval = fbh.createTimeInterval(
+    img_time_interval = fbh.createTimeIntervalVector(
         queryinst_builder.builder, min_timestamp, max_timestamp
     )
 
     query_builder.set_active_function(
-        EnumFbQuery.TIMEINTERVAL, lambda: img_time_interval
+        EnumFbQuery.TIMEINTERVALVECTOR, lambda: img_time_interval
     )
 
     queryinst_builder.set_active_function(
@@ -283,15 +291,22 @@ def test_gRPC_getInstanceQueryTimeinterval(grpc_channel, project_setup):
     min_time_ = cur_time - 2 * time_offset
     max_time_ = cur_time - time_offset
 
-    min_timestamp = fbh.createTimeStamp(queryinst_builder.builder, min_time_, 0)
-    max_timestamp = fbh.createTimeStamp(queryinst_builder.builder, max_time_, 0)
+    min_timestamp = []
+    max_timestamp = []
+
+    min_timestamp.append(
+        fbh.createTimeStamp(queryinst_builder.builder, min_time_, 0)
+    )
+    max_timestamp.append(
+        fbh.createTimeStamp(queryinst_builder.builder, max_time_, 0)
+    )
 
-    img_time_interval = fbh.createTimeInterval(
+    img_time_interval = fbh.createTimeIntervalVector(
         queryinst_builder.builder, min_timestamp, max_timestamp
     )
 
     query_builder.set_active_function(
-        EnumFbQuery.TIMEINTERVAL, lambda: img_time_interval
+        EnumFbQuery.TIMEINTERVALVECTOR, lambda: img_time_interval
     )
 
     query_builder.assemble_datatype_instance()

tests/python/gRPC/util/msg_abs/msgs.py

@@ -29,7 +29,7 @@ class EnumFbQuery(FrozenEnum):
     POLYGONSENSORPOSITION = auto()  # def: None
     FULLY_ENCAPSULATED = auto()  # def: False
     IN_MAP_FRAME = auto()  # def: True
-    TIMEINTERVAL = auto()  # def: None
+    TIMEINTERVALVECTOR = auto()  # def: None
     LABEL = auto()  # def: None
     SPARQL_QUERY = auto()  # def: None
     ONTOLOGY_URI = auto()  # def: None
@@ -64,8 +64,9 @@ def _set_enum_func_mapping(self) -> Dict[EnumFbQuery, MsgsFunctions]:
             EnumFbQuery.IN_MAP_FRAME: MsgsFunctions(
                 lambda: True, lambda: False
             ),
-            EnumFbQuery.TIMEINTERVAL: MsgsFunctions(
-                lambda: None, lambda: Dtypes.Fb.time_interval(self.builder)
+            EnumFbQuery.TIMEINTERVALVECTOR: MsgsFunctions(
+                lambda: None,
+                lambda: Dtypes.Fb.time_interval_vector(self.builder),
             ),
             EnumFbQuery.LABEL: MsgsFunctions(
                 lambda: None, lambda: Dtypes.Fb.label_category(self.builder)
@@ -120,7 +121,7 @@ def _assemble_datatype_instance(self):
         )
         fully_encapsulated = self.get_component(EnumFbQuery.FULLY_ENCAPSULATED)
         in_map_frame = self.get_component(EnumFbQuery.IN_MAP_FRAME)
-        timeinterval = self.get_component(EnumFbQuery.TIMEINTERVAL)
+        timeIntervalVector = self.get_component(EnumFbQuery.TIMEINTERVALVECTOR)
         label = self.get_component(EnumFbQuery.LABEL)
         must_have_all_labels = self.get_component(
             EnumFbQuery.MUST_HAVE_ALL_LABELS
@@ -133,7 +134,7 @@ def _assemble_datatype_instance(self):
 
         return fbh.createQuery(
             self.builder,
-            timeInterval=timeinterval,
+            timeIntervalVector=timeIntervalVector,
             labels=label,
             mustHaveAllLabels=must_have_all_labels,
             projectUuids=projectuuid,
@@ -215,6 +216,16 @@ def parameterized_polygon2d(
             polygon_vertices.append(fbh.createPoint2d(builder, quad_extent, 0))
             return fbh.createPolygon2D(builder, height, -100, polygon_vertices)
 
+        @classmethod
+        def time_interval_vector(cls, builder: Builder):
+            timeMin = []
+            timeMax = []
+            timeMin.append(fbh.createTimeStamp(builder, 1610549273, 0))
+            timeMin.append(fbh.createTimeStamp(builder, 1010549273, 0))
+            timeMax.append(fbh.createTimeStamp(builder, 1938549273, 0))
+            timeMax.append(fbh.createTimeStamp(builder, 1138549273, 0))
+            return fbh.createTimeIntervalVector(builder, timeMin, timeMax)
+
         @classmethod
         def time_interval(cls, builder: Builder) -> TimeInterval.TimeInterval:
             timeMin = fbh.createTimeStamp(builder, 1610549273, 0)