Merge branch 'tempo' into dev

.gitignore

@@ -36,3 +36,4 @@ tests_files/*
 
 # mementar intern files
 /file_intern/*
+settings.json

.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Limux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64",
+            "compileCommands": "${workspaceFolder}/../../build/compile_commands.json"
+        }
+    ],
+    "version": 4
+}

CMakeLists.txt

@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 project(mementar)
 
 add_compile_options(-std=c++1z -Wall)
@@ -23,7 +24,7 @@ find_package(cmake_modules REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport)
 find_package(OpenCV REQUIRED)
-
+find_package(ontologenius 0.4.0 REQUIRED)
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -36,6 +37,7 @@ find_package(OpenCV REQUIRED)
    MementarExplanation.msg
    MementarOccasion.msg
    StampedString.msg
+   StampedFact.msg
  )
 
 ## Generate services in the 'srv' folder
@@ -62,7 +64,7 @@ find_package(OpenCV REQUIRED)
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS include include/mementar/API
   LIBRARIES mementar_lib
   CATKIN_DEPENDS roscpp rospy std_msgs ontologenius
   DEPENDS OpenCV
@@ -75,7 +77,8 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-  include include/mementar/API
+  include
+  include/mementar/API
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -167,14 +170,16 @@ target_link_libraries(mementar_drawer_lib
 ##############################
 
 add_library(mementar_lib
-  src/API/ActionsPublisher.cpp
-  src/API/ActionsSubscriber.cpp
-  src/API/TimelineManipulator.cpp
-  src/API/TimelinesManipulator.cpp
-  src/API/clients/ManagerClient.cpp
-  src/API/clients/ClientBase.cpp
-  src/API/OccasionsPublisher.cpp
-  src/API/OccasionsSubscriber.cpp
+  src/API/mementar/ActionsPublisher.cpp
+  src/API/mementar/ActionsSubscriber.cpp
+  src/API/mementar/TimelineManipulator.cpp
+  src/API/mementar/TimelinesManipulator.cpp
+  src/API/mementar/clients/ManagerClient.cpp
+  src/API/mementar/clients/ActionClient.cpp
+  src/API/mementar/clients/ClientBase.cpp
+  src/API/mementar/clients/FactClient.cpp
+  src/API/mementar/OccasionsPublisher.cpp
+  src/API/mementar/OccasionsSubscriber.cpp
 )
 target_link_libraries(mementar_lib ${catkin_LIBRARIES})
 add_dependencies(mementar_lib ${catkin_EXPORTED_TARGETS} mementar_gencpp)
@@ -185,6 +190,7 @@ add_dependencies(mementar_lib ${catkin_EXPORTED_TARGETS} mementar_gencpp)
 
 add_library(mementar_interface
   src/RosInterface.cpp
+  src/graphical/timeline/CsvSaver.cpp
 )
 target_link_libraries(mementar_interface mementar_core_lib mementar_events_lib mementar_drawer_lib)
 target_link_libraries(mementar_interface ${catkin_LIBRARIES})

docs/cpp_API/ClientBase.html

@@ -86,7 +86,7 @@ <h1 class="title">ClientBase Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/clients/ClientBase.h&quot;</span></td></tr>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/clients/ClientBase.h&quot;</span></td></tr>
               <tr><td class="memItemLeft rightAlign topAlign"> Inherited By:</td><td class="memItemRight bottomAlign"> <a href="ManagerClient.html">ManagerClient</a></td></tr>
             </tbody>
           </table>

docs/cpp_API/Fact.html

@@ -84,7 +84,7 @@ <h1 class="title">Fact Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/Fact.h&quot;</span>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/Fact.h&quot;</span>
             </tbody>
           </table>
         </div>

docs/cpp_API/ManagerClient.html

@@ -85,7 +85,7 @@ <h1 class="title">ManagerClient Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/clients/ManagerClient.h&quot;</span></td></tr>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/clients/ManagerClient.h&quot;</span></td></tr>
               <tr><td class="memItemLeft rightAlign topAlign"> Inherits:</td><td class="memItemRight bottomAlign"> <a href="ClientBase.html">ClientBase</a></td></tr>
             </tbody>
           </table>

docs/cpp_API/OccasionsPublisher.html

@@ -84,7 +84,7 @@ <h1 class="title">OccasionsPublisher Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/OccasionsPublisher.h&quot;</span>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/OccasionsPublisher.h&quot;</span>
               <tr><td class="memItemLeft rightAlign topAlign"> Inherited By:</td><td class="memItemRight bottomAlign"> <a href="OntologiesManipulator.html">OntologiesManipulator</a></td></tr>
             </tbody>
           </table>

docs/cpp_API/OccasionsSubscriber.html

@@ -84,7 +84,7 @@ <h1 class="title">OccasionsPublisher Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/OccasionsSubscriber.h&quot;</span>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/OccasionsSubscriber.h&quot;</span>
             </tbody>
           </table>
         </div>

docs/cpp_API/TimelineManipulator.html

@@ -84,7 +84,7 @@ <h1 class="title">TimelineManipulator Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/TimelineManipulator.h&quot;</span>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/TimelineManipulator.h&quot;</span>
               <tr><td class="memItemLeft rightAlign topAlign"> Inherits:</td><td class="memItemRight bottomAlign"> <a href="OccasionsPublisher.html">OccasionsPublisher</a></td></tr>
             </tbody>
           </table>

docs/cpp_API/TimelinesManipulator.html

@@ -84,7 +84,7 @@ <h1 class="title">TimelinesManipulator Class</h1>
         <div class="table">
           <table class="alignedsummary">
             <tbody>
-              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/API/TimelinesManipulator.h&quot;</span>
+              <tr><td class="memItemLeft rightAlign topAlign"> Header:</td><td class="memItemRight bottomAlign"> <span class="preprocessor">#include &quot;mementar/TimelinesManipulator.h&quot;</span>
               </td></tr><tr><td class="memItemLeft rightAlign topAlign"> Inherits:</td><td class="memItemRight bottomAlign"> <a href="ManagerClient.html">ManagerClient</a></td></tr></tbody></table>
             </tbody>
           </table>

include/mementar/API/ActionsPublisher.h → include/mementar/API/mementar/ActionsPublisher.h

@@ -14,13 +14,17 @@ class ActionsPublisher
   ActionsPublisher(ros::NodeHandle* n, const std::string& name = "");
 
   void insert(const std::string& name, time_t start_stamp = time(0), time_t end_stamp = 0);
+  void insert(const std::string& name, ros::Time start_stamp = ros::Time::now(), ros::Time end_stamp = ros::Time(0));
+
   void insertEnd(const std::string& name, time_t end_stamp = time(0));
+  void insertEnd(const std::string& name, ros::Time end_stamp = ros::Time::now());
 
 private:
   ros::NodeHandle* n_;
   ros::Publisher pub_;
 
   void publish(const std::string& name, time_t start_stamp, time_t end_stamp);
+  void publish(const std::string& name, ros::Time  start_stamp, ros::Time  end_stamp);
 };
 
 } // namespace mementar

include/mementar/API/ActionsSubscriber.h → include/mementar/API/mementar/ActionsSubscriber.h

@@ -10,8 +10,8 @@
 #include <ros/callback_queue.h>
 
 #include "mementar/MementarOccasion.h"
-#include "mementar/API/Fact.h"
-#include "mementar/API/OccasionsSubscriber.h"
+#include "mementar/API/mementar/Fact.h"
+#include "mementar/API/mementar/OccasionsSubscriber.h"
 
 namespace mementar
 {

include/mementar/API/OccasionsPublisher.h → include/mementar/API/mementar/OccasionsPublisher.h

@@ -5,7 +5,7 @@
 
 #include <ros/ros.h>
 
-#include "mementar/API/Fact.h"
+#include "mementar/API/mementar/Fact.h"
 
 namespace mementar
 {

include/mementar/API/OccasionsSubscriber.h → include/mementar/API/mementar/OccasionsSubscriber.h

@@ -10,7 +10,7 @@
 #include <ros/callback_queue.h>
 
 #include "mementar/MementarOccasion.h"
-#include "mementar/API/Fact.h"
+#include "mementar/API/mementar/Fact.h"
 
 namespace mementar
 {

include/mementar/API/TimelineManipulator.h → include/mementar/API/mementar/TimelineManipulator.h

@@ -5,9 +5,11 @@
 
 #include <ros/ros.h>
 
-#include "mementar/API/ActionsPublisher.h"
-#include "mementar/API/OccasionsPublisher.h"
-#include "mementar/API/clients/ClientBase.h"
+#include "mementar/API/mementar/ActionsPublisher.h"
+#include "mementar/API/mementar/OccasionsPublisher.h"
+#include "mementar/API/mementar/clients/ClientBase.h"
+#include "mementar/API/mementar/clients/ActionClient.h"
+#include "mementar/API/mementar/clients/FactClient.h"
 
 namespace mementar
 {
@@ -26,6 +28,8 @@ class TimelineManipulator
 
   OccasionsPublisher fact_feeder;
   ActionsPublisher action_feeder;
+  ActionClient actions;
+  FactClient facts;
 
 private:
   ros::NodeHandle* n_;

include/mementar/API/TimelinesManipulator.h → include/mementar/API/mementar/TimelinesManipulator.h

@@ -6,8 +6,8 @@
 
 #include <ros/ros.h>
 
-#include "mementar/API/clients/ManagerClient.h"
-#include "mementar/API/TimelineManipulator.h"
+#include "mementar/API/mementar/clients/ManagerClient.h"
+#include "mementar/API/mementar/TimelineManipulator.h"
 
 namespace mementar
 {

include/mementar/API/mementar/clients/ActionClient.h

@@ -0,0 +1,28 @@
+#ifndef MEMENTAR_ACTIONCLIENT_H
+#define MEMENTAR_ACTIONCLIENT_H
+
+#include "mementar/API/mementar/clients/ClientBase.h"
+
+namespace mementar
+{
+
+class ActionClient : public ClientBase
+{
+public:
+  ActionClient(ros::NodeHandle* n, const std::string& name) : ClientBase(n, (name == "") ? "action" : "action/" + name) {}
+
+  bool exist(const std::string& action_name);
+  std::vector<std::string> getPending();
+  bool isPending(const std::string& action_name);
+  ros::Time getStartStamp(const std::string& action_name);
+  ros::Time getEndStamp(const std::string& action_name);
+  ros::Time getDuration(const std::string& action_name);
+  std::string getStartFact(const std::string& action_name);
+  std::string getEndFact(const std::string& action_name);
+  std::vector<std::string> getFactsDuring(const std::string& action_name);
+private:
+};
+
+} // namespace mementar
+
+#endif // MEMENTAR_ACTIONCLIENT_H

include/mementar/API/clients/ClientBase.h → include/mementar/API/mementar/clients/ClientBase.h

@@ -104,6 +104,41 @@ class ClientBase
     }
   }
 
+  inline ros::Time callStamp(mementar::MementarService& srv)
+  {
+    ros::Time res;
+    cpt++;
+
+    if(client.call(srv))
+    {
+      if(srv.response.values.size())
+        return srv.response.time_value;
+      else
+        return res;
+    }
+    else
+    {
+      if(verbose_)
+        std::cout << COLOR_ORANGE << "Failure to call mementar/" << name_ << COLOR_OFF << std::endl;
+      client = n_->serviceClient<mementar::MementarService>("mementar/" + name_, true);
+      if(client.call(srv))
+      {
+        if(verbose_)
+          std::cout << COLOR_GREEN << "Restored mementar/" << name_ << COLOR_OFF << std::endl;
+        if(srv.response.values.size())
+          return srv.response.time_value;
+        else
+          return res;
+      }
+      else
+      {
+        if(verbose_)
+          std::cout << COLOR_RED << "Failure of service restoration" << COLOR_OFF << std::endl;
+        return res;
+      }
+    }
+  }
+
   inline bool callNR(mementar::MementarService& srv)
   {
     cpt++;

include/mementar/API/mementar/clients/FactClient.h

@@ -0,0 +1,24 @@
+#ifndef MEMENTAR_FACTCLIENT_H
+#define MEMENTAR_FACTCLIENT_H
+
+#include "mementar/API/mementar/clients/ClientBase.h"
+
+namespace mementar
+{
+
+class FactClient : public ClientBase
+{
+public:
+  FactClient(ros::NodeHandle* n, const std::string& name) : ClientBase(n, (name == "") ? "fact" : "fact/" + name) {}
+
+  bool exist(const std::string& fact_id);
+  bool isActionPart(const std::string& fact_id);
+  std::string getActionPart(const std::string& fact_id);
+  std::string getData(const std::string& fact_id);
+  ros::Time getStamp(const std::string& fact_id);
+private:
+};
+
+} // namespace mementar
+
+#endif // MEMENTAR_FACTCLIENT_H

include/mementar/API/clients/ManagerClient.h → include/mementar/API/mementar/clients/ManagerClient.h

@@ -1,7 +1,7 @@
 #ifndef MEMENTAR_MANAGERCLIENT_H
 #define MEMENTAR_MANAGERCLIENT_H
 
-#include "mementar/API/clients/ClientBase.h"
+#include "mementar/API/mementar/clients/ClientBase.h"
 
 namespace mementar
 {

include/mementar/RosInterface.h

@@ -14,8 +14,12 @@
 #include "mementar/MementarService.h"
 #include "mementar/StampedString.h"
 
+#include "ontologenius/OntologeniusStampedString.h"
+#include "ontologenius/OntologeniusExplanation.h"
+
 //#include "mementar/core/LtManagement/EpisodicTree/ArchivedLeafNode.h"
 #include "mementar/core/feeder/Feeder.h"
+#include "mementar/core/feeder/FeederEcho.h"
 #include "mementar/core/memGraphs/Timeline.h"
 #include "mementar/core/Occasions/OccasionsManager.h"
 #include "mementar/core/Parametrization/Configuration.h"
@@ -48,10 +52,11 @@ class RosInterface
   std::string directory_;
   Configuration configuration_;
   size_t order_;
-  OntologyManipulator onto_;
+  onto::OntologyManipulator onto_;
 
   Timeline* timeline_;
   Feeder feeder_;
+  FeederEcho feeder_echo_;
   OccasionsManager occasions_;
 
   std::string name_;
@@ -65,8 +70,8 @@ class RosInterface
   void stampedKnowledgeCallback(const StampedString::ConstPtr& msg);
   void explanationKnowledgeCallback(const MementarExplanation::ConstPtr& msg);
   void actionKnowledgeCallback(const MementarAction::ConstPtr& msg);
-  void ontoStampedKnowledgeCallback(const StampedString::ConstPtr& msg);
-  void ontoExplanationKnowledgeCallback(const MementarExplanation::ConstPtr& msg);
+  void ontoStampedKnowledgeCallback(const ontologenius::OntologeniusStampedString::ConstPtr& msg);
+  void ontoExplanationKnowledgeCallback(const ontologenius::OntologeniusExplanation::ConstPtr& msg);
 
   bool managerInstanceHandle(mementar::MementarService::Request &req,
                              mementar::MementarService::Response &res);
@@ -101,6 +106,8 @@ class RosInterface
   {
     return (onto_name == "") ? "/ontologenius/" + topic_name : "/ontologenius/" + topic_name + "/" + onto_name;
   }
+
+  double rosTime2Float(double s, int ns);
 };
 
 } // namespace mementar