[UPDATE] actionGraph getStartFact, getEndFact and getFactsDuring

sarthou · Dec 15, 2020 · c29f7ab · c29f7ab
1 parent 3e1520a
commit c29f7ab
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Showing 6 changed files with 137 additions and 1 deletion.
diff --git a/include/mementar/core/memGraphs/ExtendedBtree/EventLinkedLeaf.h b/include/mementar/core/memGraphs/ExtendedBtree/EventLinkedLeaf.h
@@ -25,6 +25,14 @@ class LinkedEvent
   SelfType* getNext() { return next_elem_; }
   SelfType* getPrevious() { return prev_elem_; }
 
+  Tleaf* getLeaf()
+  {
+    if(leaf_ == nullptr)
+      return nullptr;
+    else
+      return static_cast<Tleaf*>(leaf_);
+  }
+
   Tleaf* getNextLeaf()
   {
     if(leaf_ == nullptr)

diff --git a/include/mementar/core/memGraphs/Graphs/ActionGraph.h b/include/mementar/core/memGraphs/Graphs/ActionGraph.h
@@ -28,6 +28,9 @@ class ActionGraph : public Graph<Action>
   SoftPoint::Ttime getStartStamp(const std::string& action_name);
   SoftPoint::Ttime getEndStamp(const std::string& action_name);
   SoftPoint::Ttime getDuration(const std::string& action_name);
+  std::string getStartFact(const std::string& action_name);
+  std::string getEndFact(const std::string& action_name);
+  std::unordered_set<std::string> getFactsDuring(const std::string& action_name);
 
   std::vector<Action*> get()
   {

diff --git a/src/RosInterface.cpp b/src/RosInterface.cpp
@@ -204,6 +204,20 @@ bool RosInterface::actionHandle(mementar::MementarService::Request &req,
     res.time_value = ros::Time(timeline_->actions.getEndStamp(params()));
   else if(req.action == "getDuration")
     res.time_value = ros::Time(timeline_->actions.getDuration(params()));
+  else if(req.action == "getStartFact")
+  {
+    auto fact_name = timeline_->actions.getStartFact(params());
+    if(fact_name != "")
+      res.values.push_back(fact_name);
+  }
+  else if(req.action == "getEndFact")
+  {
+    auto fact_name = timeline_->actions.getEndFact(params());
+    if(fact_name != "")
+      res.values.push_back(fact_name);
+  }
+  else if(req.action == "getFactsDuring")
+    set_res = timeline_->actions.getFactsDuring(params());
   else
     res.code = UNKNOW_ACTION;
 

diff --git a/src/core/memGraphs/Graphs/ActionGraph.cpp b/src/core/memGraphs/Graphs/ActionGraph.cpp
@@ -80,7 +80,7 @@ namespace mementar {
     if(action_branch == nullptr)
       return SoftPoint::default_time;
     else if(action_branch->isPending())
-      return false;
+      return SoftPoint::default_time;
     else
       return action_branch->getEndFact()->getTime();
   }
@@ -94,6 +94,64 @@ namespace mementar {
       return action_branch->getDuration();
   }
 
+  std::string ActionGraph::getStartFact(const std::string& action_name)
+  {
+    auto action_branch = find(action_name);
+    if(action_branch == nullptr)
+      return "";
+    else
+      return action_branch->getStartFact()->getValue();
+  }
+
+  std::string ActionGraph::getEndFact(const std::string& action_name)
+  {
+    auto action_branch = find(action_name);
+    if(action_branch == nullptr)
+      return "";
+    else if(action_branch->isPending())
+      return "";
+    else
+      return action_branch->getEndFact()->getValue();
+  }
+
+  std::unordered_set<std::string> ActionGraph::getFactsDuring(const std::string& action_name)
+  {
+    std::unordered_set<std::string> res;
+    auto action_branch = find(action_name);
+    if(action_branch != nullptr)
+    {
+      auto start_fact = action_branch->getStartFact();
+      auto leaf = start_fact->getLeaf()->getNextLeaf();
+      if(action_branch->isPending())
+      {
+        while(leaf != nullptr)
+        {
+          auto data = leaf->getData();
+          for(auto& fact : data)
+            res.insert(fact->getValue());
+          leaf = leaf->getNextLeaf();
+        }
+      }
+      else
+      {
+        auto end_fact = action_branch->getEndFact();
+        while(leaf != nullptr)
+        {
+          auto data = leaf->getData();
+          if(data.size())
+            if(data[0] >= end_fact)
+              break;
+
+          for(auto& fact : data)
+            res.insert(fact->getValue());
+          leaf = leaf->getNextLeaf();
+        }
+      }
+    }
+
+    return res;
+  }
+
   std::vector<Action*> ActionGraph::getPendingPtr()
   {
     std::vector<Action*> res;

diff --git a/src/graphical/mementarGUI/mementargui.cpp b/src/graphical/mementarGUI/mementargui.cpp
@@ -33,13 +33,22 @@ mementarGUI::mementarGUI(QWidget *parent) :
     QObject::connect(ui->action_getEndStamp_button, SIGNAL(hoverLeave()),this, SLOT(actionButtonHoverLeaveSlot()));
     QObject::connect(ui->action_getDuration_button, SIGNAL(hoverEnter()),this, SLOT(actionButtonHoverEnterSlot()));
     QObject::connect(ui->action_getDuration_button, SIGNAL(hoverLeave()),this, SLOT(actionButtonHoverLeaveSlot()));
+    QObject::connect(ui->action_getStartFact_button, SIGNAL(hoverEnter()),this, SLOT(actionButtonHoverEnterSlot()));
+    QObject::connect(ui->action_getStartFact_button, SIGNAL(hoverLeave()),this, SLOT(actionButtonHoverLeaveSlot()));
+    QObject::connect(ui->action_getEndFact_button, SIGNAL(hoverEnter()),this, SLOT(actionButtonHoverEnterSlot()));
+    QObject::connect(ui->action_getEndFact_button, SIGNAL(hoverLeave()),this, SLOT(actionButtonHoverLeaveSlot()));
+    QObject::connect(ui->action_getFactsDuring_button, SIGNAL(hoverEnter()),this, SLOT(actionButtonHoverEnterSlot()));
+    QObject::connect(ui->action_getFactsDuring_button, SIGNAL(hoverLeave()),this, SLOT(actionButtonHoverLeaveSlot()));
 
     QObject::connect(ui->action_exist_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
     QObject::connect(ui->action_getPending_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
     QObject::connect(ui->action_isPending_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
     QObject::connect(ui->action_getStartStamp_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
     QObject::connect(ui->action_getEndStamp_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
     QObject::connect(ui->action_getDuration_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
+    QObject::connect(ui->action_getStartFact_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
+    QObject::connect(ui->action_getEndFact_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
+    QObject::connect(ui->action_getFactsDuring_button, SIGNAL(clicked()),this, SLOT(actionButtonClickedSlot()));
 
     QObject::connect(ui->manager_refresh_button, SIGNAL(clicked()),this, SLOT(displayInstancesListSlot()));
     QObject::connect(ui->manager_add_instance_button, SIGNAL(clicked()),this, SLOT(addInstanceSlot()));

diff --git a/ui/mementargui.ui b/ui/mementargui.ui
@@ -137,6 +137,50 @@
          </layout>
         </item>
 
+        <item>
+         <layout class="QHBoxLayout" name="action_functions_layer3_layout">
+          <item>
+           <widget class="QPushButtonExtended" name="action_getStartFact_button">
+            <property name="cursor">
+             <cursorShape>PointingHandCursor</cursorShape>
+            </property>
+            <property name="whatsThis">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;getStartFact&lt;/span&gt; returns the identifier of the fact representing the start of the action provided as a parameter&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="text">
+             <string>getStartFact</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButtonExtended" name="action_getEndFact_button">
+            <property name="cursor">
+             <cursorShape>PointingHandCursor</cursorShape>
+            </property>
+            <property name="whatsThis">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;getEndFact&lt;/span&gt; returns the identifier of the fact representing the end of the action provided as a parameter&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="text">
+             <string>getEndFact</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButtonExtended" name="action_getFactsDuring_button">
+            <property name="cursor">
+             <cursorShape>PointingHandCursor</cursorShape>
+            </property>
+            <property name="whatsThis">
+             <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-weight:600; font-style:italic;&quot;&gt;getFactsDuring&lt;/span&gt; returns the identifiers of all the facts that took place during the execution of the action provided in parameter&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+            </property>
+            <property name="text">
+             <string>getFactsDuring</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+
         <item>
          <widget class="QTextEdit" name="action_description_textedit">
           <property name="verticalScrollBarPolicy">