[ontopy] use compat layer for sparql and convertion

sarthou · Jan 12, 2024 · 0eb83ab · 0eb83ab
1 parent f6f468b
commit 0eb83ab
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Showing 3 changed files with 20 additions and 43 deletions.
diff --git a/ontopy/ontologenius/ConversionClient.py b/ontopy/ontologenius/ConversionClient.py
@@ -1,4 +1,4 @@
-import rospy
+from compat.ros import Ontoros, OntoService
 
 from ontologenius.srv import OntologeniusConversion
 from ontologenius.srv import OntologeniusConversionRequest
@@ -12,7 +12,7 @@ def __init__(self, name):
         if name != '':
           self._name = self._name + name
         self._verbose = False
-        self._client = rospy.ServiceProxy(self._name, OntologeniusConversion, True)
+        self._client = Ontoros.createService(self._name, OntologeniusConversion)
 
     def setVerbose(self, verbose):
         """If verbose(bool) is set to True, the clients will post messages about
@@ -112,19 +112,5 @@ def _id2Index(self, id, source):
           return None
 
     def _call(self, source, values_str, values_int):
-        try:
-            response = self._client(source, values_str, values_int)
-            return response
-        except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-            if self._verbose == True:
-                print("Failure to call " + self._name)
-            self._client = rospy.ServiceProxy(self._name, OntologeniusConversion, True)
-            try:
-                response = self._client(source, values_str, values_int)
-                if self._verbose == True:
-                    print("Restored " + self._name)
-                return response
-            except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-                if self._verbose == True:
-                    print("Failure of service restoration")
-                return None
+        request = OntologeniusConversionRequest(source, values_str, values_int)
+        return self._client.call(request, self._verbose)
diff --git a/ontopy/ontologenius/clients/SparqlClient.py b/ontopy/ontologenius/clients/SparqlClient.py
@@ -1,6 +1,6 @@
-import rospy
+from compat.ros import Ontoros, OntoService
 
-from ontologenius.srv import OntologeniusSparqlService
+from ontologenius.srv import OntologeniusSparqlService, OntologeniusSparqlServiceRequest
 
 class SparqlClient:
     """The SparqlClient class provides a ROS service to explore ontologenius with SPARQL-like queries.
@@ -14,17 +14,12 @@ def __init__(self, name):
         self._name = 'sparql'
         if name != '':
             self._name = self._name + '/' + name
-        self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlService, True)
-
+        self._client = Ontoros.createService('ontologenius/' + self._name, OntologeniusSparqlService)
 
     def call(self, query):
-        try:
-            response = self._client(query)
+        request = OntologeniusSparqlServiceRequest(query)
+        response = self._client.call(request)
+        if(response is None):
+            return None
+        else:
             return (response.names, response.results)
-        except rospy.ServiceException as e:
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlService, True)
-            try:
-                response = self._client(query)
-                return (response.names, response.results)
-            except rospy.ServiceException as e:
-                return None
diff --git a/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py b/ontopy/ontologenius/clientsIndex/SparqlIndexClient.py
@@ -1,6 +1,6 @@
-import rospy
+from compat.ros import Ontoros, OntoService
 
-from ontologenius.srv import OntologeniusSparqlIndexService
+from ontologenius.srv import OntologeniusSparqlIndexService, OntologeniusSparqlIndexServiceRequest
 
 class SparqlIndexClient:
     """The SparqlIndexClient class provides a ROS service to explore ontologenius with SPARQL-like queries based on indexes.
@@ -14,17 +14,13 @@ def __init__(self, name):
         self._name = 'sparql_index'
         if name != '':
             self._name = self._name + '/' + name
-        self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlIndexService, True)
+        self._client = Ontoros.createService('ontologenius/' + self._name, OntologeniusSparqlIndexService, True)
 
 
     def call(self, query):
-        try:
-            response = self._client(query)
+        request = OntologeniusSparqlIndexServiceRequest(query)
+        response = self._client.call(request)
+        if(response is None):
+            return None
+        else:
             return (response.names, response.results)
-        except rospy.ServiceException as e:
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusSparqlIndexService, True)
-            try:
-                response = self._client(query)
-                return (response.names, response.results)
-            except rospy.ServiceException as e:
-                return None