Feat: Add PycramRoboKudoPrinter for planning

.gitignore

@@ -31,4 +31,8 @@ out/
 
 # owl2anything
 owl2anything/output/*
-*.owl
+*.owl
+
+### Emacs ###
+# emacs backup files
+*~

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

@@ -45,5 +45,6 @@ public static void main(String[] args) {
         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"));
+		PyCramRoboKudoPrinter.print(owlRecords, new File(outputDir, "pycram_robokudo.py"));
     }
 }

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

@@ -47,18 +47,25 @@ public static String toPycramFormat(OwlRecord owlRecord) {
         // 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"
+
+		// 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();
+
+		// since the current suturo_perception group made some object names without a capital letter at the start, only remove in that case.
+		if (name.startsWith("_")) {
+			name = name.substring(1);
+		}
+        return name.toLowerCase();
     }
 
     /**
      * @param owlRecord the record to convert
      * @return the record in the format needed for the CRAM - RoboKudo interface in Perception
      */
     public static String toRoboKudoFormat(OwlRecord owlRecord) {
-        String lowerCaseName = owlRecord.getIriName().toLowerCase();
-        return lowerCaseName.substring(0, 1).toUpperCase() + lowerCaseName.substring(1);
+		String iriName = owlRecord.getIriName();
+        String restLowerCaseName = iriName.substring(1).toLowerCase(Locale.ROOT);
+        return iriName.charAt(0) + restLowerCaseName;
     }
 }

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

@@ -0,0 +1,53 @@
+package com.malte3d.suturo.knowledge.owl2anything.output;
+
+import com.google.gson.Gson;
+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.TreeMap;
+import java.util.stream.Collectors;
+
+/**
+ * Utility class to create a .py file for the RoboKudo - PyCRAM - KnowRob interface
+ */
+@Slf4j
+@UtilityClass
+public class PyCramRoboKudoPrinter {
+
+    private static final Gson GSON = new Gson().newBuilder()
+            .enableComplexMapKeySerialization()
+            .disableHtmlEscaping()
+            .setPrettyPrinting()
+            .create();
+
+    public static void print(@NonNull List<OwlRecord> classes, @NonNull File outputFile) {
+
+        List<OwlRecord> output = PerceptionClassesFilter.filter(classes);
+
+		TreeMap<String, String> perceptionNames = output.stream()
+			.collect(Collectors.toMap(OwlRecordConverter::toRoboKudoFormat, OwlRecordConverter::toKnowRobFormat,
+									  (c1, c2) -> {
+										  throw new IllegalStateException(String.format("Duplicate robokudo name for classes %s and %s", c1, c2));
+									  },
+									  TreeMap::new));
+
+        try (OutputStreamWriter writer = new OutputStreamWriter(new FileOutputStream(outputFile), StandardCharsets.UTF_8)) {
+
+            writer.append("mapping = ").append(GSON.toJson(perceptionNames));
+
+            log.info("Successfully created {}", outputFile.getName());
+
+        } catch (IOException e) {
+            log.error("Error while writing the Cram Object Names file", e);
+        }
+    }
+}