Feat: Add PyCramKnowRobPrinter for Planning

build.gradle

@@ -43,6 +43,7 @@ dependencies {
     testAnnotationProcessor "org.projectlombok:lombok:${versions.lombok}"
 
     testImplementation "org.junit.jupiter:junit-jupiter-api:${versions.junit}"
+    testImplementation "org.junit.jupiter:junit-jupiter-params:${versions.junit}"
     testRuntimeOnly "org.junit.jupiter:junit-jupiter-engine:${versions.junit}"
 }
 

src/main/java/com/malte3d/suturo/knowledge/owl2anything/Owl2Anything.java

@@ -6,12 +6,7 @@
 import com.malte3d.suturo.knowledge.owl2anything.converter.OwlConverter;
 import com.malte3d.suturo.knowledge.owl2anything.converter.OwlRecord;
 import com.malte3d.suturo.knowledge.owl2anything.input.StarterArgs;
-import com.malte3d.suturo.knowledge.owl2anything.output.CramKnowRobPrinter;
-import com.malte3d.suturo.knowledge.owl2anything.output.CramRoboKudoPrinter;
-import com.malte3d.suturo.knowledge.owl2anything.output.Id2NameJsonPrinter;
-import com.malte3d.suturo.knowledge.owl2anything.output.SuturoObjectsCsvPrinter;
-import com.malte3d.suturo.knowledge.owl2anything.output.SuturoObjectsDefaultSizeCsvPrinter;
-import com.malte3d.suturo.knowledge.owl2anything.output.YoloObjNamesPrinter;
+import com.malte3d.suturo.knowledge.owl2anything.output.*;
 import lombok.experimental.UtilityClass;
 import lombok.extern.slf4j.Slf4j;
 
@@ -49,5 +44,6 @@ public static void main(String[] args) {
         YoloObjNamesPrinter.print(owlRecords, new File(outputDir, "obj.names"));
         CramRoboKudoPrinter.print(owlRecords, new File(outputDir, "cram_robokudo.txt"));
         CramKnowRobPrinter.print(owlRecords, new File(outputDir, "cram_knowrob.txt"));
+        PyCramKnowRobPrinter.print(owlRecords, new File(outputDir, "pycram_knowrob.py"));
     }
 }

src/main/java/com/malte3d/suturo/knowledge/owl2anything/output/OwlRecordConverter.java

@@ -3,6 +3,9 @@
 import com.malte3d.suturo.knowledge.owl2anything.converter.OwlRecord;
 import lombok.experimental.UtilityClass;
 
+import java.util.Locale;
+import java.util.regex.Pattern;
+
 /**
  * Converts an {@link OwlRecord} to the formats needed for the different interfaces
  */
@@ -25,6 +28,31 @@ public static String toCramFormat(OwlRecord owlRecord) {
         return owlRecord.getIriName().toLowerCase();
     }
 
+    private static final Pattern CAPITAL_LETTER = Pattern.compile("([A-Z])");
+    private static final Pattern CAPITAL_LETTER_GROUP = Pattern.compile("([A-Z])_([A-Z])");
+
+    /**
+     * @param owlRecord the record to convert
+     * @return the record in the format needed for the PyCRAM variable names
+     */
+    public static String toPycramFormat(OwlRecord owlRecord) {
+        String name = owlRecord.getIriName();
+        // First convert "CerealBox" and "ToyotaHSR" to "_Cereal_Box" and "_Toyota_H_S_R"
+        // aka prefix all capital letters with an _
+        name = CAPITAL_LETTER.matcher(name).replaceAll("_$1");
+        // Then convert "_Cereal_Box" and "_Toyota_H_S_R" to "_Cereal_Box" and "_Toyota_HS_R"
+        // aka remove underscores between capital letters
+        name = CAPITAL_LETTER_GROUP.matcher(name).replaceAll("$1$2");
+        // Then convert "_Cereal_Box" and "_Toyota_HS_R" to "_Cereal_Box" and "_Toyota_HSR"
+        // aka remove the underscores not removed in the step before,
+        // since the left capital letter was already part of a replacement in that step
+        name = CAPITAL_LETTER_GROUP.matcher(name).replaceAll("$1$2");
+        // Lastly convert "_Cereal_Box" and "_Toyota_HSR" to "cereal_box" and "toyota_hsr"
+        // aka remove the underscore at the beginning (since all names start with a capital letter)
+        // and convert it to lower case
+        return name.substring(1).toLowerCase();
+    }
+
     /**
      * @param owlRecord the record to convert
      * @return the record in the format needed for the CRAM - RoboKudo interface in Perception

src/main/java/com/malte3d/suturo/knowledge/owl2anything/output/PyCramKnowRobPrinter.java

@@ -0,0 +1,63 @@
+package com.malte3d.suturo.knowledge.owl2anything.output;
+
+import com.malte3d.suturo.knowledge.owl2anything.converter.OwlRecord;
+import lombok.NonNull;
+import lombok.experimental.UtilityClass;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.io.OutputStreamWriter;
+import java.nio.charset.StandardCharsets;
+import java.util.Comparator;
+import java.util.List;
+import java.util.regex.Pattern;
+
+/**
+ * Utility class to create a .py file for the PyCRAM - KnowRob interface
+ */
+@Slf4j
+@UtilityClass
+public class PyCramKnowRobPrinter {
+
+    private static final Pattern SINGLE_QUOTE = Pattern.compile("'");
+
+    public static void print(@NonNull List<OwlRecord> classes, @NonNull File outputFile) {
+
+        List<OwlRecord> output = PerceptionClassesFilter.filter(classes);
+
+        try (OutputStreamWriter writer = new OutputStreamWriter(new FileOutputStream(outputFile), StandardCharsets.UTF_8)) {
+
+            writer.append(generateCramObjectListString(output));
+
+            log.info("Successfully created {}", outputFile.getName());
+
+        } catch (IOException e) {
+            log.error("Error while writing the Cram Object Names file", e);
+        }
+    }
+
+    public static String generateCramObjectListString(@NonNull List<OwlRecord> classes) {
+
+
+        List<OwlRecord> perceptionClasses = classes.stream()
+                .filter(csvRecord -> csvRecord.getPerceptionId() != null)
+                .sorted(Comparator.comparing(OwlRecord::getPerceptionId))
+                .toList();
+
+        StringBuilder sb = new StringBuilder();
+
+        for (OwlRecord owlRecord : perceptionClasses) {
+
+            sb.append(OwlRecordConverter.toPycramFormat(owlRecord))
+                    .append(" = '").append(OwlRecordConverter.toKnowRobFormat(owlRecord)).append("'").append("\n");
+        }
+
+        return sb.toString();
+    }
+
+    private static String escapeSingleQuotes(String literal) {
+        return SINGLE_QUOTE.matcher(literal).replaceAll("\\\\'");
+    }
+}

src/test/java/com/malte3d/suturo/knowledge/owl2anything/output/OwlRecordConverterTest.java

@@ -0,0 +1,30 @@
+package com.malte3d.suturo.knowledge.owl2anything.output;
+
+import com.malte3d.suturo.knowledge.owl2anything.converter.OwlRecord;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.CsvSource;
+
+import static org.junit.jupiter.api.Assertions.*;
+
+class OwlRecordConverterTest {
+
+    @ParameterizedTest
+    @CsvSource({
+            "CerealBox, cereal_box",
+            "ToyotaHSR, toyota_hsr",
+            "JellOChocolatePuddingBox, jell_ochocolate_pudding_box",
+            "Drawer, drawer"
+    })
+    void toPycramFormat(String iriName, String pycramName) {
+        OwlRecord record = OwlRecord.builder()
+                // The actual test data
+                .iriName(iriName)
+                // and the other values with empty strings since lombok does not allow them to be null
+                .iriNamespace("")
+                .iriNamespaceShort("")
+                .naturalName("")
+                .description("")
+                .build();
+        assertEquals(pycramName, OwlRecordConverter.toPycramFormat(record));
+    }
+}