[CI] feature subscription test

CMakeLists.txt

@@ -632,6 +632,10 @@ if($ENV{ROS_VERSION} STREQUAL "1")
     target_include_directories(onto_feature_multi_test PRIVATE ${catkin_INCLUDE_DIRS})
     target_link_libraries(onto_feature_multi_test ontologenius_lib ${catkin_LIBRARIES})
 
+    add_rostest_gtest(onto_feature_subscription_test test/feature_subscription.test src/tests/CI/feature_subscription_test.cpp)
+    target_include_directories(onto_feature_subscription_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_feature_subscription_test ontologenius_lib ${catkin_LIBRARIES})
+
     add_rostest_gtest(onto_reasoning_anonymous_class_test test/reasoning_anonymous_class.test src/tests/CI/reasoning_anonymous_class_test.cpp)
     set_target_properties(onto_reasoning_anonymous_class_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
     target_include_directories(onto_reasoning_anonymous_class_test PRIVATE ${catkin_INCLUDE_DIRS})

files/test_individuals.owl

@@ -91,6 +91,30 @@
 
 
 
+    <!-- test_individuals#cube2 -->
+
+    <owl:NamedIndividual rdf:about="test_individuals#cube1">
+        <rdf:type rdf:resource="objects#Cube"/>
+    </owl:NamedIndividual>
+
+
+
+    <!-- test_individuals#table1 -->
+
+    <owl:NamedIndividual rdf:about="test_individuals#table1">
+        <rdf:type rdf:resource="objects#Table"/>
+    </owl:NamedIndividual>
+
+
+
+    <!-- test_individuals#table2 -->
+
+    <owl:NamedIndividual rdf:about="test_individuals#table2">
+        <rdf:type rdf:resource="objects#Table"/>
+    </owl:NamedIndividual>
+
+
+
     <!-- test_individuals#green_cube -->
 
     <owl:NamedIndividual rdf:about="test_individuals#green_cube">

src/tests/CI/feature_subscription_test.cpp

@@ -0,0 +1,183 @@
+#include <algorithm>
+#include <cstddef>
+#include <gtest/gtest.h>
+#include <ros/ros.h>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "ontologenius/API/ontologenius/OntologyManipulator.h"
+
+onto::OntologyManipulator* onto_ptr;
+std::atomic<int> done_add;
+std::atomic<int> done_del;
+std::atomic<int> done_any;
+
+#define NB_TIME 20 // 2s
+
+void callbackAdd(const std::string& fact)
+{
+  done_add++;
+}
+
+void callbackDel(const std::string& fact)
+{
+  done_del++;
+}
+
+void callbackAny(const std::string& fact)
+{
+  done_any++;
+}
+
+TEST(feature_subscription, exact_one_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]cube1|isOn|table1", &callbackAdd, 1);
+
+  usleep(1000);
+
+  for(size_t i = 0; i < 2; i++)
+  {
+    onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+    onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+  }
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 1);
+  EXPECT_EQ(done_del, 0);
+}
+
+TEST(feature_subscription, exact_invert_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]table1|isUnder|cube1", &callbackAdd, 2);
+
+  usleep(1000);
+
+  for(size_t i = 0; i < 2; i++)
+  {
+    onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+    onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+  }
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 2);
+  EXPECT_EQ(done_del, 0);
+}
+
+TEST(feature_subscription, exact_two_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]cube1|isOn|table1", &callbackAdd, 1);
+  onto_ptr->subscriber.subscribe("[del]cube1|isOn|table1", &callbackDel, 1);
+
+  usleep(1000);
+
+  for(size_t i = 0; i < 2; i++)
+  {
+    onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+    onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+  }
+  onto_ptr->feeder.waitUpdate(500);
+  for(size_t i = 0; i < 2; i++)
+  {
+    onto_ptr->feeder.removeProperty("cube1", "isOn", "table1");
+    onto_ptr->feeder.removeProperty("cube2", "isOn", "table1");
+  }
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 1);
+  EXPECT_EQ(done_del, 1);
+}
+
+TEST(feature_subscription, abstract_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]Cube|isOn|table1", &callbackAdd, 2);
+
+  usleep(1000);
+
+  onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+  onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 2);
+  EXPECT_EQ(done_del, 0);
+}
+
+TEST(feature_subscription, variable_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]?|isOn|table1", &callbackAdd, 3);
+
+  usleep(1000);
+
+  onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+  onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+  onto_ptr->feeder.addProperty("cube2", "isOn", "table2");
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 2);
+  EXPECT_EQ(done_del, 0);
+}
+
+TEST(feature_subscription, variable_abstract_pattern)
+{
+  done_add = 0;
+  done_del = 0;
+  onto_ptr->subscriber.subscribe("[add]?|isOn|Table", &callbackAdd, 3);
+
+  usleep(1000);
+
+  onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+  onto_ptr->feeder.addProperty("cube2", "isOn", "table1");
+  onto_ptr->feeder.addProperty("cube2", "isOn", "table2");
+
+  usleep(1000);
+
+  EXPECT_EQ(done_add, 3);
+  EXPECT_EQ(done_del, 0);
+}
+
+TEST(feature_subscription, any_pattern)
+{
+  done_any = 0;
+
+  onto_ptr->subscriber.subscribe("[?]cube1|isOn|table1", &callbackAny, 1);
+
+  usleep(1000);
+
+  onto_ptr->feeder.addProperty("cube1", "isOn", "table1");
+
+  onto_ptr->feeder.waitUpdate(500);
+
+  onto_ptr->feeder.removeProperty("cube1", "isOn", "table1");
+
+  usleep(1000);
+
+  EXPECT_EQ(done_any, 1);
+}
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "ontologenius_feature_subscription_test");
+
+  onto::OntologyManipulator onto;
+  onto_ptr = &onto;
+
+  onto.close();
+
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/feature_subscription.test

@@ -0,0 +1,8 @@
+<launch>
+  <include file="$(find ontologenius)/launch/ontologenius.launch">
+    <arg name="intern_file" default="none"/>
+    <arg name="display" default="false"/>
+  </include>
+  <arg name='TESTDURATION' value='60' />
+  <test pkg="ontologenius" type="onto_feature_subscription_test" test-name="feature_subscription_test" time-limit="$(arg TESTDURATION)" retry="0" />
+</launch>