From 11302b364c6e0bff5c6b70970e1dbfb070843f78 Mon Sep 17 00:00:00 2001
From: Guillaume Sarthou <gsarthou@laas.fr>
Date: Mon, 15 Jan 2024 13:43:29 +0100
Subject: [PATCH] [RosInterface] implements proper reset

---
 include/ontologenius/interface/RosInterface.h |  4 ++++
 src/interface/RosInterface.cpp                | 17 +++++++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/include/ontologenius/interface/RosInterface.h b/include/ontologenius/interface/RosInterface.h
index c2b8dd28..9a176431 100644
--- a/include/ontologenius/interface/RosInterface.h
+++ b/include/ontologenius/interface/RosInterface.h
@@ -108,6 +108,10 @@ class RosInterface
 
   /// @brief The variable used to display or not debug information. Can be changed at run time
   bool display_;
+  /// @brief represents all files provided at the initialization
+  std::vector<std::string> files_;
+  /// @brief represents the dedicated intern file
+  std::string intern_file_;
 
   /// @brief The ROS topic callback receiving statements not stamped
   void knowledgeCallback(compat::onto_ros::MessageWrapper<std_msgs_compat::String> msg);
diff --git a/src/interface/RosInterface.cpp b/src/interface/RosInterface.cpp
index 7682a1ce..4dba8601 100644
--- a/src/interface/RosInterface.cpp
+++ b/src/interface/RosInterface.cpp
@@ -74,7 +74,9 @@ void RosInterface::init(const std::string& lang, const std::string& intern_file,
     if(pose != std::string::npos)
       dedicated_intern_file.insert(pose, "_" + name_);
   }
+  intern_file_ = dedicated_intern_file;
 
+  files_ = files;
   if(onto_->preload(dedicated_intern_file) == false)
     for(auto& file : files)
       onto_->readFromFile(file);
@@ -233,6 +235,21 @@ bool RosInterface::actionsHandle(compat::onto_ros::ServiceWrapper<compat::Ontolo
       if(close() == false)
         res->code = REQUEST_ERROR;
     }
+    else if(req->action == "reset")
+    {
+      lock();
+      delete onto_;
+      onto_ = new Ontology();
+      onto_->setDisplay(display_);
+      reasoners_.link(onto_);
+      feeder_.link(onto_);
+      sparql_.link(onto_);
+      
+      if(onto_->preload(intern_file_) == false)
+        for(auto& file : files_)
+          onto_->readFromFile(file);
+      release();
+    }
     else if(req->action == "clear")
     {
       lock();