0.4.3

sarthou · Nov 8, 2024 · dfd9188 · dfd9188
2 parents b3b425a + c2229a8
commit dfd9188
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Showing 203 changed files with 8,374 additions and 5,454 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -79,6 +79,7 @@ if($ENV{ROS_VERSION} STREQUAL "1")
     OntologeniusSparqlResponse.msg
     OntologeniusSparqlIndexResponse.msg
     OntologeniusExplanation.msg
+    OntologeniusSubscriptionAnswer.msg
   )
 
   # # Generate services in the 'srv' folder
@@ -89,6 +90,8 @@ if($ENV{ROS_VERSION} STREQUAL "1")
     OntologeniusIndexService.srv
     OntologeniusSparqlService.srv
     OntologeniusSparqlIndexService.srv
+    OntologeniusSubscription.srv
+    OntologeniusUnsubscription.srv
   )
 
   # # Generate added messages and services with any dependencies listed here
@@ -103,11 +106,14 @@ elseif($ENV{ROS_VERSION} STREQUAL "2")
     "msg/OntologeniusSparqlIndexResponse.msg"
     "msg/OntologeniusSparqlResponse.msg"
     "msg/OntologeniusStampedString.msg"
+    "msg/OntologeniusSubscriptionAnswer.msg"
     "srv/OntologeniusConversion.srv"
     "srv/OntologeniusIndexService.srv"
     "srv/OntologeniusService.srv"
     "srv/OntologeniusSparqlIndexService.srv"
     "srv/OntologeniusSparqlService.srv"
+    "srv/OntologeniusSubscription.srv"
+    "srv/OntologeniusUnsubscription.srv"
     DEPENDENCIES builtin_interfaces std_msgs)
 endif()
 
@@ -231,7 +237,7 @@ function(add_ros_library TARGET)
 
   if($ENV{ROS_VERSION} STREQUAL "1")
     add_dependencies(${TARGET} ontologenius_gencpp ${catkin_EXPORTED_TARGETS})
-    target_include_directories(${TARGET} PUBLIC 
+    target_include_directories(${TARGET} PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
       ${catkin_INCLUDE_DIRS})
@@ -319,6 +325,7 @@ add_ros_library(ontologenius_lib
   src/API/ontologenius/OntologyManipulator.cpp
   src/API/ontologenius/OntologyManipulatorIndex.cpp
   src/API/ontologenius/OntologiesManipulator.cpp
+  src/API/ontologenius/PatternsSubscriber.cpp
 )
 target_include_directories(ontologenius_lib PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ontologenius/API>
   $<INSTALL_INTERFACE:include/ontologenius/API>)
@@ -328,6 +335,18 @@ target_link_libraries(ontologenius_lib
   ontologenius_plugin_lib
 ) # ontologenius_interface
 
+# # SUBSCRIPTION
+add_ros_library(ontologenius_subscription_lib
+  src/core/subscription/Subscription.cpp
+  src/core/subscription/SubscriptionManager.cpp
+  src/core/subscription/SubscriptionPattern.cpp
+)
+target_link_libraries(ontologenius_subscription_lib
+  PUBLIC
+  ontologenius_compat
+  ontologenius_ontoGraphs_lib
+)
+
 # # INTERFACE
 add_ros_library(ontologenius_interface
   src/interface/RosInterface.cpp
@@ -340,6 +359,7 @@ target_link_libraries(ontologenius_interface
   ontologenius_feeder_lib
   ontologenius_plugin_lib
   ontologenius_operators
+  ontologenius_subscription_lib
 )
 
 # ##################################
@@ -407,9 +427,6 @@ if($ENV{ROS_VERSION} STREQUAL "1")
   target_link_libraries(ontologenius_container_tester PRIVATE ontologenius_interface)
 
   # # FEATURES TESTS
-  add_ros_executable(ontologenius_config_tester src/tests/config_reader_test.cpp)
-  target_link_libraries(ontologenius_config_tester PRIVATE ontologenius_interface)
-
   add_ros_executable(ontologenius_versioning src/tests/versioning.cpp)
   target_link_libraries(ontologenius_versioning PRIVATE ontologenius_lib)
 
@@ -470,13 +487,13 @@ if($ENV{ROS_VERSION} STREQUAL "1")
   # Generate CMake package config file
   include(CMakePackageConfigHelpers)
   configure_package_config_file(
-          cmake/ontologenius_compatConfigIntermediate.cmake.in
-          ${CMAKE_CURRENT_BINARY_DIR}/ontologenius_compatConfigIntermediate.cmake
-      INSTALL_DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
+    cmake/ontologenius_compatConfigIntermediate.cmake.in
+    ${CMAKE_CURRENT_BINARY_DIR}/ontologenius_compatConfigIntermediate.cmake
+    INSTALL_DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
   )
   install(
-      FILES ${CMAKE_CURRENT_BINARY_DIR}/ontologenius_compatConfigIntermediate.cmake
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/ontologenius_compatConfigIntermediate.cmake
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
   )
 
   install(
@@ -491,7 +508,7 @@ if($ENV{ROS_VERSION} STREQUAL "1")
     EXPORT ontologenius_compatTargets
     FILE ontologenius_compatTargets.cmake
     NAMESPACE ontologenius::
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
   )
 
   install(TARGETS
@@ -510,6 +527,7 @@ if($ENV{ROS_VERSION} STREQUAL "1")
     ontologenius_plugin_lib
     ontologenius_ontoGraphs_lib
     ontologenius_reasoner_plugin
+    ontologenius_subscription_lib
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -553,6 +571,7 @@ elseif($ENV{ROS_VERSION} STREQUAL "2")
     ontologenius_feeder_lib
     ontologenius_plugin_lib
     ontologenius_ontoGraphs_lib
+    ontologenius_subscription_lib
     ontologenius_reasoner_plugin
     EXPORT ontologenius
     ARCHIVE DESTINATION lib
@@ -584,60 +603,69 @@ if($ENV{ROS_VERSION} STREQUAL "1")
   if(CATKIN_ENABLE_TESTING)
     find_package(rostest REQUIRED)
 
-    add_rostest_gtest(ontologenius_library_tester test/library.test src/tests/CI/library.cpp)
-    target_include_directories(ontologenius_library_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_library_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_requests_tester test/requests.test src/tests/CI/requests.cpp)
-    target_include_directories(ontologenius_requests_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_requests_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_global_tester test/globalFeatures.test src/tests/CI/globalFeatures.cpp)
-    target_include_directories(ontologenius_global_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_global_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_propertiesInheritage_tester test/propertiesInheritage.test src/tests/CI/propertiesInheritage.cpp)
-    target_include_directories(ontologenius_propertiesInheritage_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_propertiesInheritage_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_propertiesInheritageIndex_tester test/propertiesInheritageIndex.test src/tests/CI/propertiesInheritageIndex.cpp)
-    target_include_directories(ontologenius_propertiesInheritageIndex_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_propertiesInheritageIndex_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_multi_tester test/multi.test src/tests/CI/multi.cpp)
-    target_include_directories(ontologenius_multi_tester PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_multi_tester ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(ontologenius_cpy_test test/cpy.test src/tests/CI/copy_test.cpp)
-    set_target_properties(ontologenius_cpy_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
-    target_include_directories(ontologenius_cpy_test PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_cpy_test ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(anonymous_class_test test/anonymous_class.test src/tests/CI/anonymous_class_test.cpp)
-    set_target_properties(anonymous_class_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
-    target_include_directories(anonymous_class_test PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(anonymous_class_test ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(chain_test test/chain.test src/tests/CI/chain_test.cpp)
-    set_target_properties(chain_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
-    target_include_directories(chain_test PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(chain_test ontologenius_lib ${catkin_LIBRARIES})
-
-    add_rostest_gtest(transitivity_test test/transitivity.test src/tests/CI/transitivity_test.cpp)
-    set_target_properties(transitivity_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
-    target_include_directories(transitivity_test PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(transitivity_test ontologenius_lib ${catkin_LIBRARIES})
+    add_rostest_gtest(onto_api_connection_test test/api_connection.test src/tests/CI/api_connection_test.cpp)
+    target_include_directories(onto_api_connection_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_api_connection_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_api_inheritage_test test/api_inheritage.test src/tests/CI/api_inheritage_test.cpp)
+    target_include_directories(onto_api_inheritage_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_api_inheritage_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_api_relations_index_test test/api_relations_index.test src/tests/CI/api_relations_index_test.cpp)
+    target_include_directories(onto_api_relations_index_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_api_relations_index_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_api_relations_test test/api_relations.test src/tests/CI/api_relations_test.cpp)
+    target_include_directories(onto_api_relations_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_api_relations_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_feature_deep_copy_test test/feature_deep_copy.test src/tests/CI/feature_deep_copy_test.cpp)
+    set_target_properties(onto_feature_deep_copy_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
+    target_include_directories(onto_feature_deep_copy_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_feature_deep_copy_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_feature_loading_test test/feature_loading.test src/tests/CI/feature_loading_test.cpp)
+    target_include_directories(onto_feature_loading_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_feature_loading_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_feature_multi_test test/feature_multi.test src/tests/CI/feature_multi_test.cpp)
+    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})
+    target_link_libraries(onto_reasoning_anonymous_class_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_reasoning_chain_test test/reasoning_chain.test src/tests/CI/reasoning_chain_test.cpp)
+    set_target_properties(onto_reasoning_chain_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
+    target_include_directories(onto_reasoning_chain_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_reasoning_chain_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_reasoning_mechanism_test test/reasoning_mechanism.test src/tests/CI/reasoning_mechanism_test.cpp)
+    set_target_properties(onto_reasoning_mechanism_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
+    target_include_directories(onto_reasoning_mechanism_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_reasoning_mechanism_test ontologenius_lib ${catkin_LIBRARIES})
+
+    add_rostest_gtest(onto_reasoning_transitivity_test test/reasoning_transitivity.test src/tests/CI/reasoning_transitivity_test.cpp)
+    set_target_properties(onto_reasoning_transitivity_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
+    target_include_directories(onto_reasoning_transitivity_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(onto_reasoning_transitivity_test ontologenius_lib ${catkin_LIBRARIES})
   endif()
 
 elseif($ENV{ROS_VERSION} STREQUAL "2")
   if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     find_package(ament_cmake_gtest REQUIRED)
 
-    ament_add_gtest(ontologenius_cpy_test src/tests/CI/copy_test.cpp TIMEOUT 10)
-    set_target_properties(ontologenius_cpy_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
-    target_include_directories(ontologenius_cpy_test PRIVATE ${catkin_INCLUDE_DIRS})
-    target_link_libraries(ontologenius_cpy_test ontologenius_lib ${catkin_LIBRARIES})
+    ament_add_gtest(feature_deep_copy_test src/tests/CI/feature_deep_copy_test.cpp TIMEOUT 10)
+    set_target_properties(feature_deep_copy_test PROPERTIES CXX_STANDARD 14 CXX_STANDARD_REQUIRED ON)
+    target_include_directories(feature_deep_copy_test PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(feature_deep_copy_test ontologenius_lib ${catkin_LIBRARIES})
   endif()
 endif()
 

diff --git a/README.md b/README.md
@@ -21,4 +21,4 @@ On this launcher file, you will find an argument indicating the path to the onto
 You can add your own ontology files in the argument if you want them to be loaded at the beginning of the program.
 
 [Release-Url]: https://sarthou.github.io/ontologenius/
-[Release-image]: http://img.shields.io/badge/release-v0.4.2-1eb0fc.svg
+[Release-image]: http://img.shields.io/badge/release-v3-1eb0fc.svg
diff --git a/docs/Download.html b/docs/Download.html
@@ -1,7 +1,7 @@
 <html lang="en_US">
 
 <head>
-  <title>Download | Ontologenius 0.4.2</title>
+  <title>Download | Ontologenius 0.4.3</title>
   <meta content="text/html; charset=utf-8" http-equiv="Content-Type">
   <link href="style/ontologenius_api.css" rel="stylesheet" type="text/css">
   <link href="images/favicon.ico" rel="shortcut icon">
@@ -92,6 +92,31 @@ <h1 class="title">Download</h1>
 
         <p>You have below the archives of the major versions of Ontologenius:</p>
 
+        <h2> V0.4.3 </h2>
+        <p>8 / 11 / 2024</p>
+
+        <ul>
+          <li>
+            <a href="https://github.com/sarthou/ontologenius/archive/v0.4.3.zip" rel="nofollow">
+              <svg class="octicon octicon-file-zip flex-shrink-0 text-gray" width="16" height="16" viewBox="0 0 12 16" version="1.1" aria-hidden="true">
+                <path fill-rule="evenodd" d="M8.5 1H1a1 1 0 0 0-1 1v12a1 1 0 0 0 1 1h10a1 1 0 0 0 1-1V4.5L8.5 1zM11 14H1V2h3v1h1V2h3l3 3v9zM5 4V3h1v1H5zM4 4h1v1H4V4zm1 2V5h1v1H5zM4 6h1v1H4V6zm1 2V7h1v1H5zM4 9.28A2 2 0 0 0 3 11v1h4v-1a2 2 0 0 0-2-2V8H4v1.28zM6 10v1H4v-1h2z">
+                </path>
+              </svg>
+              <strong class="px-1">Source code</strong> (zip)
+            </a>
+          </li>
+
+          <li>
+            <a href="https://github.com/sarthou/ontologenius/archive/v0.4.3.tar.gz" rel="nofollow">
+              <svg class="octicon octicon-file-zip flex-shrink-0 text-gray" width="16" height="16" viewBox="0 0 12 16" version="1.1" aria-hidden="true">
+                <path fill-rule="evenodd" d="M8.5 1H1a1 1 0 0 0-1 1v12a1 1 0 0 0 1 1h10a1 1 0 0 0 1-1V4.5L8.5 1zM11 14H1V2h3v1h1V2h3l3 3v9zM5 4V3h1v1H5zM4 4h1v1H4V4zm1 2V5h1v1H5zM4 6h1v1H4V6zm1 2V7h1v1H5zM4 9.28A2 2 0 0 0 3 11v1h4v-1a2 2 0 0 0-2-2V8H4v1.28zM6 10v1H4v-1h2z">
+                </path>
+              </svg>
+              <strong class="px-1">Source code</strong> (tar.gz)
+            </a>
+          </li>
+        </ul>
+
         <h2> V0.4.2 </h2>
         <p>14 / 06 / 2024</p>
 

diff --git a/docs/InstallOntologeniusROS1.html b/docs/InstallOntologeniusROS1.html
@@ -1,7 +1,7 @@
 <html lang="en_US">
 
 <head>
-  <title>Install ROS1 | Ontologenius 0.4.2</title>
+  <title>Install ROS1 | Ontologenius 0.4.3</title>
   <meta content="text/html; charset=utf-8" http-equiv="Content-Type">
   <link href="style/ontologenius_api.css" rel="stylesheet" type="text/css">
   <link href="images/favicon.ico" rel="shortcut icon">

diff --git a/docs/InstallOntologeniusROS2.html b/docs/InstallOntologeniusROS2.html
@@ -1,7 +1,7 @@
 <html lang="en_US">
 
 <head>
-  <title>Install ROS2 | Ontologenius 0.4.2</title>
+  <title>Install ROS2 | Ontologenius 0.4.3</title>
   <meta content="text/html; charset=utf-8" http-equiv="Content-Type">
   <link href="style/ontologenius_api.css" rel="stylesheet" type="text/css">
   <link href="images/favicon.ico" rel="shortcut icon">

diff --git a/docs/Publications.html b/docs/Publications.html
@@ -1,7 +1,7 @@
 <html lang="en_US">
 
 <head>
-  <title>Publications | Ontologenius 0.4.2</title>
+  <title>Publications | Ontologenius 0.4.3</title>
   <meta content="text/html; charset=utf-8" http-equiv="Content-Type">
   <link href="style/ontologenius_api.css" rel="stylesheet" type="text/css">
   <link href="images/favicon.ico" rel="shortcut icon">

diff --git a/docs/SetUp.html b/docs/SetUp.html
@@ -1,7 +1,7 @@
 <html lang="en_US">
 
 <head>
-  <title>Set up | Ontologenius 0.4.2</title>
+  <title>Set up | Ontologenius 0.4.3</title>
   <meta content="text/html; charset=utf-8" http-equiv="Content-Type">
   <link href="style/ontologenius_api.css" rel="stylesheet" type="text/css">
   <link href="style/ontologenius_tabs.css" rel="stylesheet" type="text/css">
@@ -224,7 +224,7 @@ <h1 class="title">Set Up Your Environnement</h1>
               <p>We will require a minimal version of Ontologenius (optional) and include the ontologenius API.</p>
 
               <div class="code_block">
-                <div class="terminal_line">find_package(ontologenius 0.4.2 REQUIRED)</div>
+                <div class="terminal_line">find_package(ontologenius 0.4.3 REQUIRED)</div>
                 <div class="terminal_line">...</div>
                 <div class="terminal_line">catkin_package(</div>
                 <div class="terminal_line">#  INCLUDE_DIRS include</div>
@@ -258,7 +258,7 @@ <h1 class="title">Set Up Your Environnement</h1>
                 <div class="terminal_line">...</div>
                 <div class="terminal_line">find_package(ament_cmake REQUIRED)</div>
                 <div class="terminal_line">find_package(rclcpp REQUIRED)</div>
-                <div class="terminal_line">find_package(ontologenius 0.4.2 REQUIRED)</div>
+                <div class="terminal_line">find_package(ontologenius 0.4.3 REQUIRED)</div>
                 <div class="terminal_line"> </div>
                 <div class="terminal_line">include_directories(</div>
                 <div class="terminal_line">   ${rclcpp_INCLUDE_DIRS}</div>