Feat/multi time 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

@@ -631,7 +631,7 @@ 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,
@@ -649,8 +649,9 @@ 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 at least have one of
         mustHaveAllLabels: A boolean indicating if the returned instances should
@@ -716,8 +717,8 @@ 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
@@ -756,6 +757,33 @@ 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.

seerep_msgs/core/query.h

@@ -25,7 +25,8 @@ struct Query
                            // polygon defined above
   bool inMapFrame;  // if false the query polygon is in geodetic coordinates,
                     // otherwise in map frame
-  std::optional<Timeinterval> timeinterval;  ///< only do temporal query if set
+  std::optional<std::vector<Timeinterval>>
+      timeintervals;  ///< only do temporal query if set
   std::optional<std::unordered_map<std::string, std::vector<std::string>>>
       label;  ///< only do semantic query if set
   std::optional<SparqlQuery>

seerep_msgs/fbs/query.fbs

@@ -10,7 +10,7 @@ table Query {
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
   inMapFrame:bool;
-  timeinterval:TimeInterval;
+  timeintervals:[TimeInterval];
   label:[LabelCategory];
   sparqlQuery:SparqlQuery;
   ontologyURI:string;

seerep_msgs/protos/query.proto

@@ -11,7 +11,7 @@ message Query
   Polygon2D polygon = 1;
   bool fullyEncapsulated = 2;
   bool inMapFrame = 3;
-  TimeInterval timeinterval = 4;
+  repeated TimeInterval timeintervals = 4;
   repeated LabelCategory labelCategory = 5;
   bool mustHaveAllLabels = 6;
   repeated string projectuuid = 7;

seerep_srv/seerep_core/src/core_dataset.cpp

@@ -143,7 +143,7 @@ CoreDataset::getData(const seerep_core_msgs::Query& query)
     }
   }
 
-  if (!query.polygon && !query.polygonSensorPos && !query.timeinterval &&
+  if (!query.polygon && !query.polygonSensorPos && !query.timeintervals &&
       !query.label && !query.instances && !query.dataUuids)
   {
     return getAllDatasetUuids(datatypeSpecifics, query.sortByTime);
@@ -335,21 +335,24 @@ std::optional<std::vector<seerep_core_msgs::AabbTimeIdPair>>
 CoreDataset::queryTemporal(std::shared_ptr<DatatypeSpecifics> datatypeSpecifics,
                            const seerep_core_msgs::Query& query)
 {
-  if (query.timeinterval)
+  if (query.timeintervals)
   {
     std::optional<std::vector<seerep_core_msgs::AabbTimeIdPair>> timetree_result =
         std::vector<seerep_core_msgs::AabbTimeIdPair>();
-    seerep_core_msgs::AabbTime aabbtime(
-        seerep_core_msgs::TimePoint(
-            ((int64_t)query.timeinterval.value().timeMin.seconds) << 32 |
-            ((uint64_t)query.timeinterval.value().timeMin.nanos)),
-        seerep_core_msgs::TimePoint(
-            ((int64_t)query.timeinterval.value().timeMax.seconds) << 32 |
-            ((uint64_t)query.timeinterval.value().timeMax.nanos)));
-
-    datatypeSpecifics->timetree.query(
-        boost::geometry::index::intersects(aabbtime),
-        std::back_inserter(timetree_result.value()));
+    for (auto timeinterval : query.timeintervals.value())
+    {
+      seerep_core_msgs::AabbTime aabbtime(
+          seerep_core_msgs::TimePoint(((int64_t)timeinterval.timeMin.seconds)
+                                          << 32 |
+                                      ((uint64_t)timeinterval.timeMin.nanos)),
+          seerep_core_msgs::TimePoint(((int64_t)timeinterval.timeMax.seconds)
+                                          << 32 |
+                                      ((uint64_t)timeinterval.timeMax.nanos)));
+
+      datatypeSpecifics->timetree.query(
+          boost::geometry::index::intersects(aabbtime),
+          std::back_inserter(timetree_result.value()));
+    }
     return timetree_result;
   }
   else

seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h

@@ -262,9 +262,9 @@ class CoreFbConversion
    * @param query the flatbuffer query message
    * @param queryCoreTime the time in the query message in seerep core format
    */
-  static void
-  fromFbQueryTime(const seerep::fb::Query* query,
-                  std::optional<seerep_core_msgs::Timeinterval>& queryCoreTime);
+  static void fromFbQueryTime(
+      const seerep::fb::Query* query,
+      std::optional<std::vector<seerep_core_msgs::Timeinterval>>& queryCoreTime);
   /**
    * @brief extracts the WithoutData Flag of the flatbuffer query message
    * @param query the flatbuffer query message

seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp

@@ -37,7 +37,7 @@ CoreFbConversion::fromFb(const seerep::fb::Query* query,
   seerep_core_msgs::Query queryCore;
   queryCore.header.datatype = datatype;
 
-  fromFbQueryTime(query, queryCore.timeinterval);
+  fromFbQueryTime(query, queryCore.timeintervals);
   fromFbQueryLabel(query, queryCore.label);
   queryCore.sparqlQuery = fromFbSparqlQuery(query);
   queryCore.ontologyURI = fromFbOntologyURI(query);
@@ -520,19 +520,21 @@ void CoreFbConversion::fromFbQueryLabel(
 
 void CoreFbConversion::fromFbQueryTime(
     const seerep::fb::Query* query,
-    std::optional<seerep_core_msgs::Timeinterval>& queryCoreTime)
-{
-  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_TIMEINTERVAL))
-  {
-    queryCoreTime = seerep_core_msgs::Timeinterval();
-    queryCoreTime.value().timeMin.seconds =
-        query->timeinterval()->time_min()->seconds();
-    queryCoreTime.value().timeMax.seconds =
-        query->timeinterval()->time_max()->seconds();
-    queryCoreTime.value().timeMin.nanos =
-        query->timeinterval()->time_min()->nanos();
-    queryCoreTime.value().timeMax.nanos =
-        query->timeinterval()->time_max()->nanos();
+    std::optional<std::vector<seerep_core_msgs::Timeinterval>>& queryCoreTimes)
+{
+  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_TIMEINTERVALS))
+  {
+    queryCoreTimes = std::vector<seerep_core_msgs::Timeinterval>();
+    for (auto&& timeinterval : *query->timeintervals())
+    {
+      seerep_core_msgs::Timeinterval queryCoreTime =
+          seerep_core_msgs::Timeinterval();
+      queryCoreTime.timeMin.seconds = timeinterval->time_min()->seconds();
+      queryCoreTime.timeMax.seconds = timeinterval->time_max()->seconds();
+      queryCoreTime.timeMin.nanos = timeinterval->time_min()->nanos();
+      queryCoreTime.timeMax.nanos = timeinterval->time_max()->nanos();
+      queryCoreTimes.value().push_back(queryCoreTime);
+    }
   }
 }
 

seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp

@@ -324,17 +324,23 @@ void CorePbConversion::fromPbLabel(const seerep::pb::Query& query,
 void CorePbConversion::fromPbTime(const seerep::pb::Query& query,
                                   seerep_core_msgs::Query& queryCore)
 {
-  if (query.timeinterval().has_time_min() && query.timeinterval().has_time_max())
+  if (query.timeintervals_size() > 0)
   {
-    queryCore.timeinterval = seerep_core_msgs::Timeinterval();
-    queryCore.timeinterval.value().timeMin.seconds =
-        query.timeinterval().time_min().seconds();
-    queryCore.timeinterval.value().timeMax.seconds =
-        query.timeinterval().time_max().seconds();
-    queryCore.timeinterval.value().timeMin.nanos =
-        query.timeinterval().time_min().nanos();
-    queryCore.timeinterval.value().timeMax.nanos =
-        query.timeinterval().time_max().nanos();
+    queryCore.timeintervals = std::vector<seerep_core_msgs::Timeinterval>();
+    for (auto&& timeinterval : query.timeintervals())
+    {
+      if (timeinterval.has_time_min() && timeinterval.has_time_max())
+      {
+        seerep_core_msgs::Timeinterval queryCoreTime =
+            seerep_core_msgs::Timeinterval();
+        queryCoreTime.timeMin.seconds = timeinterval.time_min().seconds();
+        queryCoreTime.timeMax.seconds = timeinterval.time_max().seconds();
+        queryCoreTime.timeMin.nanos = timeinterval.time_min().nanos();
+        queryCoreTime.timeMax.nanos = timeinterval.time_max().nanos();
+
+        queryCore.timeintervals.value().push_back(queryCoreTime);
+      }
+    }
   }
 }
 

seerep_srv/seerep_server/src/fb_image_service.cpp

@@ -19,7 +19,7 @@ grpc::Status FbImageService::GetImage(
   debuginfo << "sending images with this query parameters:";
   if (requestRoot->polygon() != NULL)
   {
-    for (auto point : *requestRoot->polygon()->vertices())
+    for (auto&& point : *requestRoot->polygon()->vertices())
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -30,7 +30,7 @@ grpc::Status FbImageService::GetImage(
   }
   if (requestRoot->polygonSensorPosition() != NULL)
   {
-    for (auto point : *(requestRoot->polygonSensorPosition()->vertices()))
+    for (auto&& point : *(requestRoot->polygonSensorPosition()->vertices()))
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -40,19 +40,21 @@ grpc::Status FbImageService::GetImage(
     debuginfo << "bounding box height "
               << requestRoot->polygonSensorPosition()->height() << " /";
   }
-  if (requestRoot->timeinterval() != NULL)
+  if (requestRoot->timeintervals() != NULL)
   {
-    debuginfo << "\n time interval ("
-              << requestRoot->timeinterval()->time_min()->seconds() << "/"
-              << requestRoot->timeinterval()->time_max()->seconds() << ")";
+    for (auto&& timeinterval : *requestRoot->timeintervals())
+    {
+      debuginfo << "\n time interval (" << timeinterval->time_min()->seconds()
+                << "/" << timeinterval->time_max()->seconds() << ")";
+    }
   }
   if (requestRoot->label() != NULL)
   {
     debuginfo << "\n labels general";
-    for (auto labelCategory : *requestRoot->label())
+    for (auto&& labelCategory : *requestRoot->label())
     {
       debuginfo << "category: " << labelCategory->category()->c_str() << "; ";
-      for (auto label : *labelCategory->labels())
+      for (auto&& label : *labelCategory->labels())
       {
         debuginfo << "'" << label->label()->str() << "' ";
       }