From 3e6b581733092ef8492b63e8fd7e7987028cb966 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Fri, 4 Oct 2024 11:18:44 +0200 Subject: [PATCH 01/49] add default value for ServiceCall --- ontopy/ontologenius/compat/ros.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ontopy/ontologenius/compat/ros.py b/ontopy/ontologenius/compat/ros.py index 518d7bea..b975d212 100644 --- a/ontopy/ontologenius/compat/ros.py +++ b/ontopy/ontologenius/compat/ros.py @@ -11,7 +11,7 @@ def __init__(self, srv_name, srv_type): self.srv_name = srv_name self.srv_type = srv_type - def call(self, request, verbose): + def call(self, request, verbose=True): try: response = self._client(request) return response From a13032d8ea4170775792f77fae9c911e331c8b55 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Fri, 4 Oct 2024 11:19:17 +0200 Subject: [PATCH 02/49] setup export sub packages --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 33f7cc5d..0482725f 100644 --- a/setup.py +++ b/setup.py @@ -2,7 +2,7 @@ from catkin_pkg.python_setup import generate_distutils_setup d = generate_distutils_setup( - packages=['ontologenius'], + packages=['ontologenius','ontologenius.clients','ontologenius.clientsIndex','ontologenius.compat'], package_dir={'': 'ontopy'}, requires=['rospy','ontologenius','ontologenius.srv'] ) From b385a43daf7ec111f923d18999ef59cd5afe0e3c Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Tue, 22 Oct 2024 11:27:18 +0200 Subject: [PATCH 03/49] [SparqlUtils] prevent convertions of empty variables --- include/ontologenius/core/ontologyOperators/SparqlUtils.h | 1 + 1 file changed, 1 insertion(+) diff --git a/include/ontologenius/core/ontologyOperators/SparqlUtils.h b/include/ontologenius/core/ontologyOperators/SparqlUtils.h index dc759fb3..fc563be7 100644 --- a/include/ontologenius/core/ontologyOperators/SparqlUtils.h +++ b/include/ontologenius/core/ontologyOperators/SparqlUtils.h @@ -166,6 +166,7 @@ namespace ontologenius { std::vector res; res.reserve(var_names.size()); for(const auto& var : var_names) + if(var.empty() == false) res.push_back(Resource_t::variables[var]); std::sort(res.begin(), res.end()); return res; From ac42b2b44a07385db94641a5a1e8d57442449e30 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Tue, 22 Oct 2024 14:10:39 +0200 Subject: [PATCH 04/49] [SparqlUtils] convertVariables allows varibale with ? symbol --- .../core/ontologyOperators/SparqlUtils.h | 28 ++++++++++++++++++- 1 file changed, 27 insertions(+), 1 deletion(-) diff --git a/include/ontologenius/core/ontologyOperators/SparqlUtils.h b/include/ontologenius/core/ontologyOperators/SparqlUtils.h index fc563be7..ed2a8b57 100644 --- a/include/ontologenius/core/ontologyOperators/SparqlUtils.h +++ b/include/ontologenius/core/ontologyOperators/SparqlUtils.h @@ -1,6 +1,7 @@ #ifndef ONTOLOGENIUS_SPARQLUTILS_H #define ONTOLOGENIUS_SPARQLUTILS_H +#include #include #include #include @@ -167,7 +168,12 @@ namespace ontologenius { res.reserve(var_names.size()); for(const auto& var : var_names) if(var.empty() == false) - res.push_back(Resource_t::variables[var]); + { + if(var.front() == '?') + res.push_back(Resource_t::variables[var.substr(1)]); + else + res.push_back(Resource_t::variables[var]); + } std::sort(res.begin(), res.end()); return res; } @@ -181,17 +187,22 @@ namespace ontologenius { template void filter(std::vector>& res, const std::vector& vars, bool distinct) { + std::cout << "in filter map" << std::endl; if(vars.empty() == false) { if(vars[0] == "*") return; + std::cout << "start to filter" << std::endl; + for(auto& sub_res : res) { for(auto itr = sub_res.cbegin(); itr != sub_res.cend();) itr = (std::find(vars.begin(), vars.end(), "?" + itr->first) == vars.end()) ? sub_res.erase(itr) : std::next(itr); } + std::cout << "done" << std::endl; + if(distinct) removeDuplicate(res); } @@ -200,19 +211,34 @@ namespace ontologenius { template void filter(std::vector>& res, const std::vector& vars, bool distinct) { + std::cout << "in filter vector" << std::endl; if(vars.empty() == false) { if(vars[0] == "*") return; + for(auto& v : vars) + std::cout << "=> \'" << v << "\'" << std::endl; + std::vector var_index = convertVariables(vars); + for(auto& v : var_index) + std::cout << "-> \'" << v << "\'" << std::endl; + + std::cout << "var converted" << std::endl; + for(auto& sub_res : res) { + std::cout << "sub_res size = " << sub_res.size() << std::endl; + for(auto i : var_index) + std::cout << " - " << i << std::endl; + for(auto it = var_index.rbegin(); it != var_index.rend(); ++it) sub_res.erase(sub_res.begin() + *it); } + std::cout << "filtered done" << std::endl; + if(distinct) removeDuplicate(res); } From 3a26bb8abb1de03ac31cb9f6014a67b1204c64ac Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Tue, 22 Oct 2024 14:20:26 +0200 Subject: [PATCH 05/49] [SparqlUtils] fix filtering --- .../core/ontologyOperators/SparqlUtils.h | 48 ++++++++++--------- 1 file changed, 26 insertions(+), 22 deletions(-) diff --git a/include/ontologenius/core/ontologyOperators/SparqlUtils.h b/include/ontologenius/core/ontologyOperators/SparqlUtils.h index ed2a8b57..f79817ae 100644 --- a/include/ontologenius/core/ontologyOperators/SparqlUtils.h +++ b/include/ontologenius/core/ontologyOperators/SparqlUtils.h @@ -1,8 +1,8 @@ #ifndef ONTOLOGENIUS_SPARQLUTILS_H #define ONTOLOGENIUS_SPARQLUTILS_H -#include #include +#include #include #include #include @@ -178,6 +178,21 @@ namespace ontologenius { return res; } + template + std::set convertVariables2Set(const std::vector& var_names) + { + std::set res; + for(const auto& var : var_names) + if(var.empty() == false) + { + if(var.front() == '?') + res.insert(Resource_t::variables[var.substr(1)]); + else + res.insert(Resource_t::variables[var]); + } + return res; + } + template void removeDuplicate(std::vector>& vect) { @@ -187,22 +202,17 @@ namespace ontologenius { template void filter(std::vector>& res, const std::vector& vars, bool distinct) { - std::cout << "in filter map" << std::endl; if(vars.empty() == false) { if(vars[0] == "*") return; - std::cout << "start to filter" << std::endl; - for(auto& sub_res : res) { for(auto itr = sub_res.cbegin(); itr != sub_res.cend();) itr = (std::find(vars.begin(), vars.end(), "?" + itr->first) == vars.end()) ? sub_res.erase(itr) : std::next(itr); } - std::cout << "done" << std::endl; - if(distinct) removeDuplicate(res); } @@ -211,34 +221,28 @@ namespace ontologenius { template void filter(std::vector>& res, const std::vector& vars, bool distinct) { - std::cout << "in filter vector" << std::endl; if(vars.empty() == false) { if(vars[0] == "*") return; - for(auto& v : vars) - std::cout << "=> \'" << v << "\'" << std::endl; - - std::vector var_index = convertVariables(vars); - - for(auto& v : var_index) - std::cout << "-> \'" << v << "\'" << std::endl; + std::set var_index = convertVariables2Set(vars); - std::cout << "var converted" << std::endl; + std::vector index_to_remove; + if(res.empty() == false) + { + auto front = res.front(); + for(int64_t i = 0; i < (int64_t)front.size(); i++) + if(var_index.find(i) == var_index.end()) + index_to_remove.push_back(i); + } for(auto& sub_res : res) { - std::cout << "sub_res size = " << sub_res.size() << std::endl; - for(auto i : var_index) - std::cout << " - " << i << std::endl; - - for(auto it = var_index.rbegin(); it != var_index.rend(); ++it) + for(auto it = index_to_remove.rbegin(); it != index_to_remove.rend(); ++it) sub_res.erase(sub_res.begin() + *it); } - std::cout << "filtered done" << std::endl; - if(distinct) removeDuplicate(res); } From 1aab6ab9cf3a5dfdd9845a1ec8205c2666768b32 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Tue, 22 Oct 2024 14:30:56 +0200 Subject: [PATCH 06/49] remove implicit inlines --- .../Branchs/RelationsWithInductions.h | 16 ++++++++-------- .../core/ontoGraphs/Branchs/ValuedNode.h | 2 +- .../core/ontoGraphs/Branchs/WordTable.h | 12 ++++++------ .../core/ontoGraphs/Graphs/Graph.h | 18 +++++++++--------- 4 files changed, 24 insertions(+), 24 deletions(-) diff --git a/include/ontologenius/core/ontoGraphs/Branchs/RelationsWithInductions.h b/include/ontologenius/core/ontoGraphs/Branchs/RelationsWithInductions.h index c7312a48..3214e2a2 100644 --- a/include/ontologenius/core/ontoGraphs/Branchs/RelationsWithInductions.h +++ b/include/ontologenius/core/ontoGraphs/Branchs/RelationsWithInductions.h @@ -28,8 +28,8 @@ namespace ontologenius { RelationsWithInductions(const RelationsWithInductions& other) = delete; ~RelationsWithInductions() { clear(); } - inline size_t size() const { return relations.size(); } - inline bool empty() const { return relations.empty(); } + size_t size() const { return relations.size(); } + bool empty() const { return relations.empty(); } T& operator[](size_t index) { return relations[index]; } size_t pushBack(T& relation) @@ -74,12 +74,12 @@ namespace ontologenius { return std::find(relations.begin(), relations.end(), other); } - inline typename std::vector::iterator begin() { return relations.begin(); } - inline typename std::vector::iterator end() { return relations.end(); } - inline typename std::vector::const_iterator cbegin() const { return relations.cbegin(); } - inline typename std::vector::const_iterator cend() const { return relations.cend(); } - inline typename std::vector::reverse_iterator rbegin() { return relations.rbegin(); } - inline typename std::vector::reverse_iterator rend() { return relations.rend(); } + typename std::vector::iterator begin() { return relations.begin(); } + typename std::vector::iterator end() { return relations.end(); } + typename std::vector::const_iterator cbegin() const { return relations.cbegin(); } + typename std::vector::const_iterator cend() const { return relations.cend(); } + typename std::vector::reverse_iterator rbegin() { return relations.rbegin(); } + typename std::vector::reverse_iterator rend() { return relations.rend(); } }; } // namespace ontologenius diff --git a/include/ontologenius/core/ontoGraphs/Branchs/ValuedNode.h b/include/ontologenius/core/ontoGraphs/Branchs/ValuedNode.h index b39e4554..26e9ba81 100644 --- a/include/ontologenius/core/ontoGraphs/Branchs/ValuedNode.h +++ b/include/ontologenius/core/ontoGraphs/Branchs/ValuedNode.h @@ -42,7 +42,7 @@ namespace ontologenius { Dictionary steady_dictionary_; template - inline void conditionalPushBack(std::vector& vect, const C& data) + void conditionalPushBack(std::vector& vect, const C& data) { if(std::find(vect.begin(), vect.end(), data) == vect.end()) vect.push_back(data); diff --git a/include/ontologenius/core/ontoGraphs/Branchs/WordTable.h b/include/ontologenius/core/ontoGraphs/Branchs/WordTable.h index f43e842a..bb99128f 100644 --- a/include/ontologenius/core/ontoGraphs/Branchs/WordTable.h +++ b/include/ontologenius/core/ontoGraphs/Branchs/WordTable.h @@ -18,34 +18,34 @@ namespace ontologenius { table_.emplace_back(""); // index 0 is reserved for the "no result index" } - inline index_t add(const std::string& value) + index_t add(const std::string& value) { table_.push_back(value); return (index_t)table_.size() - 1; } - inline std::string& get(index_t index) + std::string& get(index_t index) { return table_[index]; } - inline std::string& operator[](index_t index) + std::string& operator[](index_t index) { return table_[index]; } - inline const std::string& operator[](index_t index) const + const std::string& operator[](index_t index) const { return table_[index]; } - inline void index2string(std::unordered_set& res, const std::unordered_set& base) + void index2string(std::unordered_set& res, const std::unordered_set& base) { for(index_t i : base) res.insert(table_[i]); } - inline size_t size() const + size_t size() const { return table_.size(); } diff --git a/include/ontologenius/core/ontoGraphs/Graphs/Graph.h b/include/ontologenius/core/ontoGraphs/Graphs/Graph.h index 0dc68642..b547ef6b 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/Graph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/Graph.h @@ -104,7 +104,7 @@ namespace ontologenius { // use std::lock_guard lock(mutex_); to WRITE A DATA // use std::shared_lock lock(mutex_); to READ A DATA - inline void removeFromDictionary(std::map>& dictionary, const std::string& lang, const std::string& word) + void removeFromDictionary(std::map>& dictionary, const std::string& lang, const std::string& word) { if(dictionary.find(lang) != dictionary.end()) { @@ -117,7 +117,7 @@ namespace ontologenius { } template - inline void removeFromVect(std::vector& vect, const T& value) + void removeFromVect(std::vector& vect, const T& value) { for(size_t i = 0; i < vect.size();) if(vect[i] == value) @@ -127,7 +127,7 @@ namespace ontologenius { } template - inline void removeFromElemVect(std::vector>& vect, const T& value) + void removeFromElemVect(std::vector>& vect, const T& value) { for(size_t i = 0; i < vect.size();) if(vect[i].elem == value) @@ -137,7 +137,7 @@ namespace ontologenius { } template - inline void removeFromElemVect(RelationsWithInductions>& vect, const T& value) + void removeFromElemVect(RelationsWithInductions>& vect, const T& value) { for(size_t i = 0; i < vect.size();) if(vect[i].elem == value) @@ -147,7 +147,7 @@ namespace ontologenius { } template - inline void getInMap(T** ptr, const std::string& name, std::map& map) + void getInMap(T** ptr, const std::string& name, std::map& map) { if(*ptr != nullptr) return; @@ -158,7 +158,7 @@ namespace ontologenius { } template - inline bool conditionalPushBack(std::vector& vect, const C& data) + bool conditionalPushBack(std::vector& vect, const C& data) { if(std::find(vect.begin(), vect.end(), data) == vect.end()) { @@ -170,7 +170,7 @@ namespace ontologenius { } template - inline bool conditionalPushBack(RelationsWithInductions& vect, const C& data) + bool conditionalPushBack(RelationsWithInductions& vect, const C& data) { if(std::find(vect.begin(), vect.end(), data) == vect.end()) { @@ -182,7 +182,7 @@ namespace ontologenius { } template - inline bool conditionalPushBack(std::vector>& vect, const SingleElement& data) + bool conditionalPushBack(std::vector>& vect, const SingleElement& data) { auto it = std::find(vect.begin(), vect.end(), data); if(it == vect.end()) @@ -197,7 +197,7 @@ namespace ontologenius { } template - inline bool conditionalPushBack(RelationsWithInductions>& vect, const SingleElement& data) + bool conditionalPushBack(RelationsWithInductions>& vect, const SingleElement& data) { auto it = std::find(vect.begin(), vect.end(), data); if(it == vect.end()) From 3dc9ee76e94f480f4a98a5e1feda3f2a926a9f6d Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:39:49 +0200 Subject: [PATCH 07/49] [ClientBase] remove implicit inline --- .../ontologenius/API/ontologenius/clients/ClientBase.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/include/ontologenius/API/ontologenius/clients/ClientBase.h b/include/ontologenius/API/ontologenius/clients/ClientBase.h index 10ca66f7..12d9cc15 100644 --- a/include/ontologenius/API/ontologenius/clients/ClientBase.h +++ b/include/ontologenius/API/ontologenius/clients/ClientBase.h @@ -50,7 +50,7 @@ namespace onto { /// @param action the query action. /// @param param the query parameters. /// @return Returns a list of string. If the service call fails, the first element of the returned vector is "ERR:SERVICE_FAIL". - inline std::vector call(const std::string& action, const std::string& param, int16_t& code = ignore) + std::vector call(const std::string& action, const std::string& param, int16_t& code = ignore) { cpt++; @@ -96,7 +96,7 @@ namespace onto { /// @param action the query action. /// @param param the query parameters. /// @return Returns a single string. If the service call fails, the returned value is "ERR:SERVICE_FAIL". - inline std::string callStr(const std::string& action, const std::string& param, int16_t& code = ignore) + std::string callStr(const std::string& action, const std::string& param, int16_t& code = ignore) { auto res = this->call(action, param, code); return res.empty() ? "" : res[0]; @@ -106,7 +106,7 @@ namespace onto { /// @param action the query action. /// @param param the query parameters. /// @return Returns false if the service call fails. - inline bool callNR(const std::string& action, const std::string& param) + bool callNR(const std::string& action, const std::string& param) { return this->callStr(action, param) != "ERR:SERVICE_FAIL"; } @@ -115,7 +115,7 @@ namespace onto { /// @param action the query action. /// @param param the query parameters. /// @return Returns false if the service call fails or the result code of the service is different from SUCCESS. - inline bool callBool(const std::string& action, const std::string& param) + bool callBool(const std::string& action, const std::string& param) { int16_t code = 0; auto res = this->callStr(action, param, code); From 56ab99a793c4ecae5448bf623ccb5701e17171cc Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:40:17 +0200 Subject: [PATCH 08/49] add subscription srv and msg --- CMakeLists.txt | 6 ++++++ include/ontologenius/compat/ros.h | 6 ++++++ msg/OntologeniusSubscriptionAnswer.msg | 3 +++ srv/OntologeniusSubscription.srv | 4 ++++ srv/OntologeniusUnsubscription.srv | 3 +++ 5 files changed, 22 insertions(+) create mode 100644 msg/OntologeniusSubscriptionAnswer.msg create mode 100644 srv/OntologeniusSubscription.srv create mode 100644 srv/OntologeniusUnsubscription.srv diff --git a/CMakeLists.txt b/CMakeLists.txt index 9652c5a4..2272b28f 100644 --- 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() diff --git a/include/ontologenius/compat/ros.h b/include/ontologenius/compat/ros.h index 263b1ee2..7af9758c 100644 --- a/include/ontologenius/compat/ros.h +++ b/include/ontologenius/compat/ros.h @@ -13,6 +13,7 @@ #include #include #include +#include #include // User-defined service interfaces @@ -21,6 +22,8 @@ #include #include #include +#include +#include namespace std_msgs_compat = std_msgs; @@ -35,6 +38,7 @@ namespace std_msgs_compat = std_msgs; #include #include #include +#include #include // User-defined service interfaces @@ -43,6 +47,8 @@ namespace std_msgs_compat = std_msgs; #include #include #include +#include +#include namespace std_msgs_compat = std_msgs::msg; diff --git a/msg/OntologeniusSubscriptionAnswer.msg b/msg/OntologeniusSubscriptionAnswer.msg new file mode 100644 index 00000000..262c694c --- /dev/null +++ b/msg/OntologeniusSubscriptionAnswer.msg @@ -0,0 +1,3 @@ +int32 id +string data +bool last diff --git a/srv/OntologeniusSubscription.srv b/srv/OntologeniusSubscription.srv new file mode 100644 index 00000000..e052af57 --- /dev/null +++ b/srv/OntologeniusSubscription.srv @@ -0,0 +1,4 @@ +string data +int32 count +--- +int32 id diff --git a/srv/OntologeniusUnsubscription.srv b/srv/OntologeniusUnsubscription.srv new file mode 100644 index 00000000..e62eb05d --- /dev/null +++ b/srv/OntologeniusUnsubscription.srv @@ -0,0 +1,3 @@ +int32 id +--- +int32 id From 0eeb133bbdb227a0cb055781c944ea482d2e7d6d Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:40:31 +0200 Subject: [PATCH 09/49] [Triplet] add TripletStr_t --- .../core/ontoGraphs/Branchs/Triplet.h | 38 +++++++++++++++++++ 1 file changed, 38 insertions(+) diff --git a/include/ontologenius/core/ontoGraphs/Branchs/Triplet.h b/include/ontologenius/core/ontoGraphs/Branchs/Triplet.h index bf17ae27..a9a32a2d 100644 --- a/include/ontologenius/core/ontoGraphs/Branchs/Triplet.h +++ b/include/ontologenius/core/ontoGraphs/Branchs/Triplet.h @@ -2,10 +2,48 @@ #define ONTOLOGENIUS_TRIPLET_H #include +#include #include namespace ontologenius { + struct TripletStr_t + { + TripletStr_t(const std::string& subject, + const std::string& predicat, + const std::string& object, + bool add = true) : subject(subject), + predicate(predicat), + object(object), + add(add) + {} + + bool operator==(const TripletStr_t& other) const + { + return ((subject == other.subject) && + (predicate == other.predicate) && + (object == other.object) && + (add == other.add)); + } + + bool valid() const + { + return ((subject.empty() == false) && + (predicate.empty() == false) && + (object.empty() == false)); + } + + std::string toString() const + { + return (add ? "[add]" : "[del]") + subject + "|" + predicate + "|" + object; + } + + std::string subject; + std::string predicate; + std::string object; + bool add; + }; + template struct Triplet_t { From 0170bc1aba2e13ef845c63ea3166451905938b0d Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:40:45 +0200 Subject: [PATCH 10/49] [OntoGraph] add isA method --- .../ontologenius/core/ontoGraphs/Graphs/OntoGraph.h | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h index 04c12dc3..65df1ff3 100644 --- a/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h +++ b/include/ontologenius/core/ontoGraphs/Graphs/OntoGraph.h @@ -37,6 +37,9 @@ namespace ontologenius { template std::unordered_set getUpId(const T& value, int depth = -1); + template + bool isA(const T& branch, const T& selector); + template bool existInInheritance(B* branch, const T& selector); @@ -215,6 +218,15 @@ namespace ontologenius { } } + template + template + bool OntoGraph::isA(const T& branch, const T& selector) + { + std::shared_lock lock(Graph::mutex_); + auto* b = this->findBranch(branch); + return existInInheritance(b, selector); + } + template template bool OntoGraph::existInInheritance(B* branch, const T& selector) From 26f6a29e41131fb5097e23f35aa8d31998f2a1c9 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:40:57 +0200 Subject: [PATCH 11/49] add subscription mechanism --- CMakeLists.txt | 29 +++- .../core/subscription/IdManager.h | 62 +++++++ .../core/subscription/Subscription.h | 46 +++++ .../core/subscription/SubscriptionManager.h | 56 ++++++ .../core/subscription/SubscriptionPattern.h | 126 ++++++++++++++ include/ontologenius/interface/RosInterface.h | 3 + .../ontoGraphs/Graphs/IndividualGraph.cpp | 1 + src/core/subscription/Subscription.cpp | 162 ++++++++++++++++++ src/core/subscription/SubscriptionManager.cpp | 116 +++++++++++++ src/core/subscription/SubscriptionPattern.cpp | 11 ++ src/interface/RosInterface.cpp | 13 +- 11 files changed, 616 insertions(+), 9 deletions(-) create mode 100644 include/ontologenius/core/subscription/IdManager.h create mode 100644 include/ontologenius/core/subscription/Subscription.h create mode 100644 include/ontologenius/core/subscription/SubscriptionManager.h create mode 100644 include/ontologenius/core/subscription/SubscriptionPattern.h create mode 100644 src/core/subscription/Subscription.cpp create mode 100644 src/core/subscription/SubscriptionManager.cpp create mode 100644 src/core/subscription/SubscriptionPattern.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 2272b28f..20f70bf7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -237,7 +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 $ $ ${catkin_INCLUDE_DIRS}) @@ -334,6 +334,18 @@ target_link_libraries(ontologenius_lib ontologenius_plugin_lib ) # ontologenius_interface +# # SUBSCRIPTION +add_ros_library(ontologenius_subscription_lib + src/core/subscription/Subscription.cpp + src/core/subscription/SubscriptionManager.cpp + src/core/subscription/SubscriptionPattern.cpp +) +target_link_libraries(ontologenius_subscription_lib + PUBLIC + ontologenius_compat + ontologenius_ontoGraphs_lib +) + # # INTERFACE add_ros_library(ontologenius_interface src/interface/RosInterface.cpp @@ -346,6 +358,7 @@ target_link_libraries(ontologenius_interface ontologenius_feeder_lib ontologenius_plugin_lib ontologenius_operators + ontologenius_subscription_lib ) # ################################## @@ -476,13 +489,13 @@ if($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 ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake ) install( @@ -497,7 +510,7 @@ if($ENV{ROS_VERSION} STREQUAL "1") EXPORT ontologenius_compatTargets FILE ontologenius_compatTargets.cmake NAMESPACE ontologenius:: - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake ) install(TARGETS @@ -516,6 +529,7 @@ if($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 ${CATKIN_PACKAGE_BIN_DESTINATION} @@ -559,6 +573,7 @@ elseif($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 diff --git a/include/ontologenius/core/subscription/IdManager.h b/include/ontologenius/core/subscription/IdManager.h new file mode 100644 index 00000000..b044c2ff --- /dev/null +++ b/include/ontologenius/core/subscription/IdManager.h @@ -0,0 +1,62 @@ +#ifndef ONTOLOGENIUS_IDMANAGER_H +#define ONTOLOGENIUS_IDMANAGER_H + +#include + +namespace ontologenius { + + template + class IdManager + { + static_assert(std::is_integral::value, "TInteger must be an integral type"); + + public: + IdManager(); + + TInteger getNewId(); + bool removeId(TInteger id); + + std::set getIds() { return ids_; } + + private: + TInteger current_id_; + std::set ids_; + }; + + template + IdManager::IdManager() : current_id_(0) + {} + + template + TInteger IdManager::getNewId() + { + while(ids_.find(current_id_) != ids_.end()) + current_id_++; + + ids_.insert(current_id_); + + TInteger res = current_id_; + current_id_++; + + return (res); + } + + template + bool IdManager::removeId(TInteger id) + { + auto it = ids_.find(id); + if(it == ids_.end()) + return false; + else + { + ids_.erase(it); + if(id < current_id_) + current_id_ = id; + + return true; + } + } + +} // namespace ontologenius + +#endif // ONTOLOGENIUS_IDMANAGER_H diff --git a/include/ontologenius/core/subscription/Subscription.h b/include/ontologenius/core/subscription/Subscription.h new file mode 100644 index 00000000..a0d199a2 --- /dev/null +++ b/include/ontologenius/core/subscription/Subscription.h @@ -0,0 +1,46 @@ +#ifndef ONTOLOGENIUS_SUBSCRIPTION_H +#define ONTOLOGENIUS_SUBSCRIPTION_H + +#include +#include +#include +#include + +#include "ontologenius/core/ontoGraphs/Branchs/Triplet.h" +#include "ontologenius/core/ontoGraphs/Ontology.h" +#include "ontologenius/core/subscription/IdManager.h" +#include "ontologenius/core/subscription/SubscriptionPattern.h" + +namespace ontologenius { + + class Subscription + { + public: + Subscription(Ontology* onto = nullptr) : onto_(onto) {} + + void link(Ontology* onto) { onto_ = onto; } + + size_t subscribe(const SubscriptionPattern& patern, size_t count); + bool unsubscribe(int id); + + bool isFinished(size_t id); + bool empty() { return paterns_.empty(); } + + std::vector evaluate(const TripletStr_t& triplet); + + private: + std::map paterns_; + std::map counts_; + std::mutex map_mut_; + + IdManager id_manager_; + + Ontology* onto_; + + SubscriptionPattern refinePattern(const SubscriptionPattern& triplet); + bool compareToTriplet(const SubscriptionPattern& pattern, const TripletStr_t& triplet); + }; + +} // namespace ontologenius + +#endif // ONTOLOGENIUS_SUBSCRIPTION_H diff --git a/include/ontologenius/core/subscription/SubscriptionManager.h b/include/ontologenius/core/subscription/SubscriptionManager.h new file mode 100644 index 00000000..983e045c --- /dev/null +++ b/include/ontologenius/core/subscription/SubscriptionManager.h @@ -0,0 +1,56 @@ +#ifndef ONTOLOGENIUS_SUBSCRIPTIONMANAGER_H +#define ONTOLOGENIUS_SUBSCRIPTIONMANAGER_H + +#include +#include +#include +#include +#include + +#include "ontologenius/compat/ros.h" +#include "ontologenius/core/ontoGraphs/Branchs/Triplet.h" +#include "ontologenius/core/ontoGraphs/Ontology.h" +#include "ontologenius/core/subscription/Subscription.h" + +namespace ontologenius { + + class SubscriptionManager + { + public: + explicit SubscriptionManager(const std::string& name = ""); + + void link(Ontology* onto) { subscription_.link(onto); } + + void run(); + + void add(const TripletStr_t& triplet); + void add(const std::string& triplet_str); + void add(const std::vector>& explanations); + + void stop() { run_ = false; } + bool isRunning() const { return run_; } + + private: + Subscription subscription_; + std::atomic run_; + + compat::onto_ros::Publisher pub_; + compat::onto_ros::Service sub_service_; + compat::onto_ros::Service unsub_service_; + + std::mutex mutex_; + std::queue triplets_; + + bool subscribeCallback(compat::onto_ros::ServiceWrapper& req, + compat::onto_ros::ServiceWrapper& res); + + bool unsubscribeCallback(compat::onto_ros::ServiceWrapper& req, + compat::onto_ros::ServiceWrapper& res); + + TripletStr_t get(); + bool empty(); + }; + +} // namespace ontologenius + +#endif // ONTOLOGENIUS_SUBSCRIPTIONMANAGER_H diff --git a/include/ontologenius/core/subscription/SubscriptionPattern.h b/include/ontologenius/core/subscription/SubscriptionPattern.h new file mode 100644 index 00000000..5911939f --- /dev/null +++ b/include/ontologenius/core/subscription/SubscriptionPattern.h @@ -0,0 +1,126 @@ +#ifndef ONTOLOGENIUS_SUBSCRIPTIONPATTERN_H +#define ONTOLOGENIUS_SUBSCRIPTIONPATTERN_H + +#include +#include + +#include "ontologenius/core/ontoGraphs/Branchs/Triplet.h" + +namespace ontologenius { + + class SubscriptionPattern + { + public: + SubscriptionPattern(const std::string& subject, + const std::string& predicat, + const std::string& object, + bool add) : triplet_(subject, predicat, object, add), + operator_is_undefined_(false) + { + init(); + } + + SubscriptionPattern(const std::string& subject, + const std::string& predicat, + const std::string& object) : triplet_(subject, predicat, object, true), + operator_is_undefined_(true) + + { + init(); + } + + explicit SubscriptionPattern(const TripletStr_t& triplet) : triplet_(triplet), + operator_is_undefined_(false) + { + init(); + } + + SubscriptionPattern(const SubscriptionPattern& other) = default; + + static SubscriptionPattern deserialize(const std::string& str) + { + if(std::regex_match(str, match, regex)) + { + if(match[1].str() == "?") + return SubscriptionPattern(match[2].str(), match[3].str(), match[4].str()); + else + return SubscriptionPattern(match[2].str(), match[3].str(), match[4].str(), match[1].str() == "A"); + } + else if(std::regex_match(str, match, regex2)) + { + if(match[1].str() == "?") + return SubscriptionPattern(match[2].str(), match[3].str(), match[4].str()); + else + return SubscriptionPattern(match[2].str(), match[3].str(), match[4].str(), (match[1].str() == "ADD") || (match[1].str() == "add")); + } + else + return SubscriptionPattern(TripletStr_t("", "", "")); // invalid triplet + } + + bool fit(const TripletStr_t& other) const + { + return (((triplet_.add == other.add) || operator_is_undefined_) && + ((triplet_.subject == other.subject) || subject_is_undefined_) && + ((triplet_.predicate == other.predicate) || predicat_is_undefined_) && + ((triplet_.object == other.object) || object_is_undefined_)); + } + + void setSubjectAsClass() { subject_is_indiv_ = false; } + void setSubjectAsIndividual() { subject_is_indiv_ = true; } + void setObjectAsClass() { object_is_indiv_ = false; } + void setObjectAsIndividual() { object_is_indiv_ = true; } + void setPredicatAsDataProperty() { predicat_is_object_property_ = false; } + void setPredicatAsObjectProperty() { predicat_is_object_property_ = true; } + + bool isSubjectClass() const { return !subject_is_indiv_; } + bool isSubjectIndividual() const { return subject_is_indiv_; } + bool isObjectClass() const { return !object_is_indiv_; } + bool isObjectIndividual() const { return object_is_indiv_; } + bool isPredicatDataProperty() const { return !predicat_is_object_property_; } + bool isPredicatObjectProperty() const { return predicat_is_object_property_; } + + bool isOperatorUndefined() const { return operator_is_undefined_; } + bool isSubjectUndefined() const { return subject_is_undefined_; } + bool isObjectUndefined() const { return object_is_undefined_; } + bool isPredicatUndefined() const { return predicat_is_undefined_; } + + bool add() const { return triplet_.add; } + const std::string& subject() const { return triplet_.subject; } + const std::string& predicate() const { return triplet_.predicate; } + const std::string& object() const { return triplet_.object; } + const TripletStr_t& getTriplet() const { return triplet_; } + + bool valid() const { return triplet_.valid(); } + + protected: + TripletStr_t triplet_; + + bool subject_is_indiv_; + bool object_is_indiv_; + bool predicat_is_object_property_; + + bool operator_is_undefined_; + bool subject_is_undefined_; + bool object_is_undefined_; + bool predicat_is_undefined_; + + static std::regex regex; + static std::regex regex2; + static std::smatch match; + + private: + void init() + { + subject_is_indiv_ = true; + object_is_indiv_ = true; + predicat_is_object_property_ = true; + + subject_is_undefined_ = (triplet_.subject == "?"); + object_is_undefined_ = (triplet_.object == "?"); + predicat_is_undefined_ = (triplet_.predicate == "?"); + } + }; + +} // namespace ontologenius + +#endif // ONTOLOGENIUS_SUBSCRIPTIONPATTERN_H diff --git a/include/ontologenius/interface/RosInterface.h b/include/ontologenius/interface/RosInterface.h index 677e67b5..c5d60922 100644 --- a/include/ontologenius/interface/RosInterface.h +++ b/include/ontologenius/interface/RosInterface.h @@ -14,6 +14,7 @@ #include "ontologenius/core/ontoGraphs/Ontology.h" #include "ontologenius/core/ontologyOperators/Sparql.h" #include "ontologenius/core/reasoner/Reasoners.h" +#include "ontologenius/core/subscription/SubscriptionManager.h" // #define ONTO_TEST @@ -82,6 +83,8 @@ namespace ontologenius { Reasoners reasoners_; /// @brief Analyses incoming statements and manage the versioning system Feeder feeder_; + /// @brief Allows subscription to triplets patterns + SubscriptionManager subscriber_; /// @brief Republishs the incoming statement and the deduced once FeederEcho feeder_echo_; /// @brief Resolves SPARQL queries. diff --git a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp index fd2dccde..0bc25d37 100644 --- a/src/core/ontoGraphs/Graphs/IndividualGraph.cpp +++ b/src/core/ontoGraphs/Graphs/IndividualGraph.cpp @@ -5,6 +5,7 @@ #include #include #include +#include #include #include #include diff --git a/src/core/subscription/Subscription.cpp b/src/core/subscription/Subscription.cpp new file mode 100644 index 00000000..cdff6d5a --- /dev/null +++ b/src/core/subscription/Subscription.cpp @@ -0,0 +1,162 @@ +#include "ontologenius/core/subscription/Subscription.h" + +#include +#include +#include + +#include "ontologenius/core/ontoGraphs/Branchs/Triplet.h" +#include "ontologenius/core/subscription/SubscriptionPattern.h" + +namespace ontologenius { + + size_t Subscription::subscribe(const SubscriptionPattern& patern, size_t count) + { + map_mut_.lock(); + size_t id = id_manager_.getNewId(); + paterns_.insert(std::pair(id, refinePattern(patern))); + counts_[id] = count; + map_mut_.unlock(); + + return id; + } + + bool Subscription::unsubscribe(int id) + { + bool res = true; + map_mut_.lock(); + if(id != -1) + { + if(id_manager_.removeId(id)) + { + paterns_.erase(id); + counts_.erase(id); + } + else + res = false; + } + else + { + auto ids = id_manager_.getIds(); + for(auto id_to_remove : ids) + { + if(id_manager_.removeId(id_to_remove)) + { + paterns_.erase(id_to_remove); + counts_.erase(id_to_remove); + } + else + res = false; + } + } + + map_mut_.unlock(); + return res; + } + + bool Subscription::isFinished(size_t id) + { + bool res = true; + + map_mut_.lock(); + if(counts_.find(id) != counts_.end()) + res = (counts_[id] == 0); + map_mut_.unlock(); + + return res; + } + + std::vector Subscription::evaluate(const TripletStr_t& triplet) + { + std::vector res; + + map_mut_.lock(); + for(auto& it : paterns_) + { + if(compareToTriplet(it.second, triplet)) + { + if(counts_[it.first] != 0) + { + res.push_back(it.first); + counts_[it.first]--; + } + } + } + map_mut_.unlock(); + + return res; + } + + SubscriptionPattern Subscription::refinePattern(const SubscriptionPattern& triplet) + { + SubscriptionPattern pattern = triplet; + if(onto_ != nullptr) + { + if(pattern.isSubjectUndefined() == false) + if(onto_->class_graph_.getUp(triplet.subject()).empty() == false) + pattern.setSubjectAsClass(); + if(pattern.isObjectUndefined() == false) + if(onto_->class_graph_.getUp(triplet.object()).empty() == false) + pattern.setObjectAsClass(); + if(pattern.isPredicatUndefined() == false) + if(onto_->data_property_graph_.getUp(triplet.predicate()).empty() == false) + pattern.setPredicatAsDataProperty(); + } + + return pattern; + } + + bool Subscription::compareToTriplet(const SubscriptionPattern& pattern, const TripletStr_t& triplet) + { + if(onto_ == nullptr) + return pattern.fit(triplet); + + if(!pattern.isOperatorUndefined()) + if(pattern.add() != triplet.add) + return false; + + if(pattern.isSubjectIndividual() && !pattern.isSubjectUndefined()) + { + if(pattern.subject() != triplet.subject) + return false; + } + + if(pattern.isObjectIndividual() && !pattern.isObjectUndefined()) + { + if(pattern.object() != triplet.object) + return false; + } + + if(pattern.isSubjectIndividual() == false) + { + if(onto_->individual_graph_.isA(triplet.subject, pattern.subject()) == false) + return false; + } + // subject match + + if(pattern.isObjectIndividual() == false) + { + if((onto_->individual_graph_.isA(triplet.object, pattern.object()) == false) && + (onto_->class_graph_.isA(triplet.object, pattern.object()) == false)) + return false; + } + // object match + + if((pattern.predicate() != triplet.predicate) && !pattern.isPredicatUndefined()) + { + if(pattern.isPredicatObjectProperty()) + { + if(onto_->object_property_graph_.isA(triplet.predicate, pattern.predicate()) == false) + return false; + } + else + { + if(onto_->data_property_graph_.isA(triplet.predicate, pattern.predicate()) == false) + return false; + } + } + // predicat match + + return true; + } + +} // namespace ontologenius diff --git a/src/core/subscription/SubscriptionManager.cpp b/src/core/subscription/SubscriptionManager.cpp new file mode 100644 index 00000000..6593b180 --- /dev/null +++ b/src/core/subscription/SubscriptionManager.cpp @@ -0,0 +1,116 @@ +#include "ontologenius/core/subscription/SubscriptionManager.h" + +#include +#include +#include +#include + +#include "ontologenius/compat/ros.h" +#include "ontologenius/core/ontoGraphs/Branchs/Triplet.h" +#include "ontologenius/core/ontoGraphs/Ontology.h" +#include "ontologenius/core/subscription/SubscriptionPattern.h" + +namespace ontologenius { + + SubscriptionManager::SubscriptionManager(const std::string& name) : run_(false), + pub_((name.empty()) ? "ontologenius/subscription_answer" : "ontologenius/subscription_answer/" + name, 1000), + sub_service_(name.empty() ? "ontologenius/subscribe" : "ontologenius/subscribe/" + name, &SubscriptionManager::subscribeCallback, this), + unsub_service_(name.empty() ? "ontologenius/unsubscribe" : "ontologenius/unsubscribe/" + name, &SubscriptionManager::unsubscribeCallback, this) + { + } + + void SubscriptionManager::run() + { + run_ = true; + compat::onto_ros::Rate r(50); + + while(compat::onto_ros::Node::ok() && isRunning()) + { + while(empty() == false) + { + TripletStr_t triplet = get(); + if(triplet.valid()) + { + std::vector ids = subscription_.evaluate(triplet); + for(auto id : ids) + { + compat::OntologeniusSubscriptionAnswer msg; + msg.id = (int)id; + msg.data = triplet.toString(); + msg.last = subscription_.isFinished(id); + if(msg.last) + subscription_.unsubscribe((int)id); + pub_.publish(msg); + } + } + } + r.sleep(); + } + } + + void SubscriptionManager::add(const TripletStr_t& triplet) + { + std::lock_guard lock(mutex_); + triplets_.push(triplet); + } + + void SubscriptionManager::add(const std::string& triplet_str) + { + std::lock_guard lock(mutex_); + auto pattern(SubscriptionPattern::deserialize(triplet_str)); + triplets_.push(pattern.getTriplet()); + } + + void SubscriptionManager::add(const std::vector>& explanations) + { + std::lock_guard lock(mutex_); + for(auto& expl : explanations) + { + auto pattern(SubscriptionPattern::deserialize(expl.first)); + triplets_.push(pattern.getTriplet()); + } + } + + bool SubscriptionManager::subscribeCallback(compat::onto_ros::ServiceWrapper& req, + compat::onto_ros::ServiceWrapper& res) + { + return [this](auto&& req, auto&& res) { + auto pattern = SubscriptionPattern::deserialize(req->data); + + if(pattern.valid() == false) + return false; + + res->id = subscription_.subscribe(pattern, req->count); + + return true; + }(compat::onto_ros::getServicePointer(req), compat::onto_ros::getServicePointer(res)); + } + + bool SubscriptionManager::unsubscribeCallback(compat::onto_ros::ServiceWrapper& req, + compat::onto_ros::ServiceWrapper& res) + { + return [this](auto&& req, auto&& res) { + if(subscription_.unsubscribe(req->id)) + res->id = req->id; + else + res->id = -1; + + return true; + }(compat::onto_ros::getServicePointer(req), compat::onto_ros::getServicePointer(res)); + } + + TripletStr_t SubscriptionManager::get() + { + std::lock_guard lock(mutex_); + TripletStr_t res(triplets_.front()); + triplets_.pop(); + return res; + } + + bool SubscriptionManager::empty() + { + std::lock_guard lock(mutex_); + return triplets_.empty(); + } + +} // namespace ontologenius diff --git a/src/core/subscription/SubscriptionPattern.cpp b/src/core/subscription/SubscriptionPattern.cpp new file mode 100644 index 00000000..91b4050b --- /dev/null +++ b/src/core/subscription/SubscriptionPattern.cpp @@ -0,0 +1,11 @@ +#include "ontologenius/core/subscription/SubscriptionPattern.h" + +#include + +namespace ontologenius { + + std::regex SubscriptionPattern::regex(R"((\w)\|(\w+)\|(\w+)\|(\w+))"); + std::regex SubscriptionPattern::regex2(R"(\[([^\]]+)\]([^|]+)\|([^|]+)\|([^|]+))"); + std::smatch SubscriptionPattern::match; + +} // namespace ontologenius diff --git a/src/interface/RosInterface.cpp b/src/interface/RosInterface.cpp index f0613561..78aabbe4 100644 --- a/src/interface/RosInterface.cpp +++ b/src/interface/RosInterface.cpp @@ -10,6 +10,7 @@ #include "ontologenius/compat/ros.h" #include "ontologenius/core/ontoGraphs/Ontology.h" +#include "ontologenius/core/subscription/SubscriptionManager.h" #include "ontologenius/core/utility/error_code.h" #include "ontologenius/graphical/Display.h" @@ -43,6 +44,7 @@ namespace ontologenius { RosInterface::RosInterface(RosInterface& other, const std::string& name) : onto_(new Ontology(*other.onto_)), reasoners_(name), + subscriber_(name), feeder_echo_(getTopicName("insert_echo", name), getTopicName("insert_explanations", name)), #ifdef ONTO_TEST end_feed_(true), @@ -60,9 +62,8 @@ namespace ontologenius { reasoners_.link(onto_); feeder_.link(onto_); feeder_.setVersioning(true); + subscriber_.link(onto_); sparql_.link(onto_); - - // n_.setCallbackQueue(&callback_queue_); } RosInterface::~RosInterface() @@ -152,6 +153,7 @@ namespace ontologenius { std::thread feed_thread(&RosInterface::feedThread, this); std::thread periodic_reasoning_thread(&RosInterface::periodicReasoning, this); + std::thread subscription_thread(&SubscriptionManager::run, &subscriber_); if(name_.empty() == false) Display::info(name_ + " is ready"); @@ -250,6 +252,7 @@ namespace ontologenius { onto_->setDisplay(display_); reasoners_.link(onto_); feeder_.link(onto_); + subscriber_.link(onto_); sparql_.link(onto_); if(onto_->preload(intern_file_) == false) @@ -265,6 +268,7 @@ namespace ontologenius { onto_->setDisplay(display_); reasoners_.link(onto_); feeder_.link(onto_); + subscriber_.link(onto_); sparql_.link(onto_); release(); } @@ -400,6 +404,10 @@ namespace ontologenius { feeder_echo_.add(echo); auto explanations = feeder_.getExplanations(); feeder_echo_.add(explanations); + + subscriber_.add(explanations); + for(auto& fact : echo) + subscriber_.add(fact.first); } else if(feeder_end == false) { @@ -462,6 +470,7 @@ namespace ontologenius { } auto explanations = reasoners_.getExplanations(); + subscriber_.add(explanations); for(auto& explanation : explanations) { expl_msg.fact = explanation.first; From bd1668885bedac55b253c4ecaa388d33af7ceee2 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 15:59:38 +0200 Subject: [PATCH 12/49] [API] add PatternSubscriber for C++ API --- CMakeLists.txt | 1 + .../API/ontologenius/PatternsSubscriber.h | 44 ++++++++ src/API/ontologenius/PatternsSubscriber.cpp | 102 ++++++++++++++++++ 3 files changed, 147 insertions(+) create mode 100644 include/ontologenius/API/ontologenius/PatternsSubscriber.h create mode 100644 src/API/ontologenius/PatternsSubscriber.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index 20f70bf7..26aab19b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -325,6 +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 $ $) diff --git a/include/ontologenius/API/ontologenius/PatternsSubscriber.h b/include/ontologenius/API/ontologenius/PatternsSubscriber.h new file mode 100644 index 00000000..4a94c3f8 --- /dev/null +++ b/include/ontologenius/API/ontologenius/PatternsSubscriber.h @@ -0,0 +1,44 @@ +#ifndef ONTOLOGENIUS_PATTERNSSUBSCRIBER_H +#define ONTOLOGENIUS_PATTERNSSUBSCRIBER_H + +#include +#include +#include +#include +#include +#include + +#include "ontologenius/compat/ros.h" + +namespace onto { + + class PatternsSubscriber + { + public: + PatternsSubscriber(const std::function& callback, const std::string& name = ""); + ~PatternsSubscriber(); + + bool subscribe(const std::string& pattern, size_t count = -1); + bool cancel(); + + bool end() const { return ids_.empty(); } + + private: + ontologenius::compat::onto_ros::Subscriber sub_; + ontologenius::compat::onto_ros::Client client_subscribe_; + ontologenius::compat::onto_ros::Client client_cancel_; + + std::atomic need_to_terminate_; + + std::vector ids_; + + void patternCallback(const ontologenius::compat::OntologeniusSubscriptionAnswer& msg); + + std::function callback_; + + void spinThread(); + }; + +} // namespace onto + +#endif // ONTOLOGENIUS_PATTERNSSUBSCRIBER_H diff --git a/src/API/ontologenius/PatternsSubscriber.cpp b/src/API/ontologenius/PatternsSubscriber.cpp new file mode 100644 index 00000000..50b7d89a --- /dev/null +++ b/src/API/ontologenius/PatternsSubscriber.cpp @@ -0,0 +1,102 @@ +#include "ontologenius/API/ontologenius/PatternsSubscriber.h" + +#include +#include +#include +#include + +#include "ontologenius/compat/ros.h" + +namespace onto { + + PatternsSubscriber::PatternsSubscriber(const std::function& callback, const std::string& name) + : sub_(name.empty() ? "ontologenius/subscription_answer" : "ontologenius/subscription_answer/" + name, 1000, &PatternsSubscriber::patternCallback, this), + client_subscribe_(name.empty() ? "ontologenius/subscribe" : "ontologenius/subscribe/" + name), + client_cancel_(name.empty() ? "ontologenius/unsubscribe" : "ontologenius/unsubscribe/" + name), + callback_(callback) + {} + + PatternsSubscriber::~PatternsSubscriber() + { + cancel(); + } + + bool PatternsSubscriber::subscribe(const std::string& pattern, size_t count) + { + auto req = ontologenius::compat::makeRequest(); + auto res = ontologenius::compat::makeResponse(); + + [&](auto&& req) { + req->data = pattern; + req->count = count; + }(ontologenius::compat::onto_ros::getServicePointer(req)); + + using ResultTy = typename decltype(client_subscribe_)::Status_e; + + if(client_subscribe_.call(req, res) != ResultTy::ros_status_failure) + { + ids_.push_back(ontologenius::compat::onto_ros::getServicePointer(res)->id); + return true; + } + else + return false; + } + + bool PatternsSubscriber::cancel() + { + bool done = true; + for(size_t i = 0; i < ids_.size();) + { + auto req = ontologenius::compat::makeRequest(); + auto res = ontologenius::compat::makeResponse(); + + [&](auto&& req) { + req->id = ids_[i]; + }(ontologenius::compat::onto_ros::getServicePointer(req)); + + using ResultTy = typename decltype(client_cancel_)::Status_e; + + if(client_cancel_.call(req, res) != ResultTy::ros_status_failure) + { + if(ontologenius::compat::onto_ros::getServicePointer(res)->id != (int)ids_[i]) + { + done = false; + } + } + else + { + done = false; + } + + if(done) + ids_.erase(ids_.begin() + (int)i); + else + i++; + } + + return done; + } + + void PatternsSubscriber::patternCallback(const ontologenius::compat::OntologeniusSubscriptionAnswer& msg) + { + auto it = std::find(ids_.begin(), ids_.end(), msg.id); + if(it != ids_.end()) + { + callback_(msg.data); + if(msg.last) + ids_.erase(it); + } + } + + void PatternsSubscriber::spinThread() + { + while(ontologenius::compat::onto_ros::Node::ok()) + { + if(need_to_terminate_) + { + break; + } + } + } + +} // namespace onto From b8c0149ad4d98947bf687f086d22eda81ed44b28 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Thu, 24 Oct 2024 17:50:41 +0200 Subject: [PATCH 13/49] [RosInterface] stop subscriber properly --- src/interface/RosInterface.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/interface/RosInterface.cpp b/src/interface/RosInterface.cpp index 78aabbe4..6cb65b31 100644 --- a/src/interface/RosInterface.cpp +++ b/src/interface/RosInterface.cpp @@ -162,6 +162,9 @@ namespace ontologenius { periodic_reasoning_thread.join(); feed_thread.join(); + + subscriber_.stop(); + subscription_thread.join(); } void RosInterface::stop() From 71178c4ebb04766047e5e5e8d5a7d7b57a194c18 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 30 Oct 2024 13:07:56 +0100 Subject: [PATCH 14/49] [PatternsSubscriber] with dedicaed callback per pattern --- .../API/ontologenius/PatternsSubscriber.h | 10 +-- src/API/ontologenius/PatternsSubscriber.cpp | 73 +++++++++---------- 2 files changed, 38 insertions(+), 45 deletions(-) diff --git a/include/ontologenius/API/ontologenius/PatternsSubscriber.h b/include/ontologenius/API/ontologenius/PatternsSubscriber.h index 4a94c3f8..025fd188 100644 --- a/include/ontologenius/API/ontologenius/PatternsSubscriber.h +++ b/include/ontologenius/API/ontologenius/PatternsSubscriber.h @@ -15,11 +15,11 @@ namespace onto { class PatternsSubscriber { public: - PatternsSubscriber(const std::function& callback, const std::string& name = ""); + PatternsSubscriber(const std::string& name = ""); ~PatternsSubscriber(); - bool subscribe(const std::string& pattern, size_t count = -1); - bool cancel(); + bool subscribe(const std::string& pattern, const std::function& callback, size_t count = -1); + bool cancel(size_t id); bool end() const { return ids_.empty(); } @@ -30,12 +30,10 @@ namespace onto { std::atomic need_to_terminate_; - std::vector ids_; + std::unordered_map> ids_; void patternCallback(const ontologenius::compat::OntologeniusSubscriptionAnswer& msg); - std::function callback_; - void spinThread(); }; diff --git a/src/API/ontologenius/PatternsSubscriber.cpp b/src/API/ontologenius/PatternsSubscriber.cpp index 50b7d89a..4a435a46 100644 --- a/src/API/ontologenius/PatternsSubscriber.cpp +++ b/src/API/ontologenius/PatternsSubscriber.cpp @@ -1,27 +1,34 @@ #include "ontologenius/API/ontologenius/PatternsSubscriber.h" -#include #include #include #include +#include #include "ontologenius/compat/ros.h" namespace onto { - PatternsSubscriber::PatternsSubscriber(const std::function& callback, const std::string& name) + PatternsSubscriber::PatternsSubscriber(const std::string& name) : sub_(name.empty() ? "ontologenius/subscription_answer" : "ontologenius/subscription_answer/" + name, 1000, &PatternsSubscriber::patternCallback, this), client_subscribe_(name.empty() ? "ontologenius/subscribe" : "ontologenius/subscribe/" + name), - client_cancel_(name.empty() ? "ontologenius/unsubscribe" : "ontologenius/unsubscribe/" + name), - callback_(callback) + client_cancel_(name.empty() ? "ontologenius/unsubscribe" : "ontologenius/unsubscribe/" + name) {} PatternsSubscriber::~PatternsSubscriber() { - cancel(); + std::vector ids; + ids.reserve(ids_.size()); + for(const auto& id : ids_) + ids.push_back(id.first); + + for(auto id : ids) + cancel(id); } - bool PatternsSubscriber::subscribe(const std::string& pattern, size_t count) + bool PatternsSubscriber::subscribe(const std::string& pattern, + const std::function& callback, + size_t count) { auto req = ontologenius::compat::makeRequest(); auto res = ontologenius::compat::makeResponse(); @@ -35,54 +42,46 @@ namespace onto { if(client_subscribe_.call(req, res) != ResultTy::ros_status_failure) { - ids_.push_back(ontologenius::compat::onto_ros::getServicePointer(res)->id); + ids_.emplace(ontologenius::compat::onto_ros::getServicePointer(res)->id, callback); return true; } else return false; } - bool PatternsSubscriber::cancel() + bool PatternsSubscriber::cancel(size_t id) { bool done = true; - for(size_t i = 0; i < ids_.size();) + + auto req = ontologenius::compat::makeRequest(); + auto res = ontologenius::compat::makeResponse(); + + [&](auto&& req) { + req->id = id; + }(ontologenius::compat::onto_ros::getServicePointer(req)); + + using ResultTy = typename decltype(client_cancel_)::Status_e; + + if(client_cancel_.call(req, res) != ResultTy::ros_status_failure) { - auto req = ontologenius::compat::makeRequest(); - auto res = ontologenius::compat::makeResponse(); - - [&](auto&& req) { - req->id = ids_[i]; - }(ontologenius::compat::onto_ros::getServicePointer(req)); - - using ResultTy = typename decltype(client_cancel_)::Status_e; - - if(client_cancel_.call(req, res) != ResultTy::ros_status_failure) - { - if(ontologenius::compat::onto_ros::getServicePointer(res)->id != (int)ids_[i]) - { - done = false; - } - } - else - { + if(ontologenius::compat::onto_ros::getServicePointer(res)->id != (int)id) done = false; - } - - if(done) - ids_.erase(ids_.begin() + (int)i); - else - i++; } + else + done = false; + + if(done) + ids_.erase(id); return done; } void PatternsSubscriber::patternCallback(const ontologenius::compat::OntologeniusSubscriptionAnswer& msg) { - auto it = std::find(ids_.begin(), ids_.end(), msg.id); + auto it = ids_.find(msg.id); if(it != ids_.end()) { - callback_(msg.data); + it->second(msg.data); if(msg.last) ids_.erase(it); } @@ -91,12 +90,8 @@ namespace onto { void PatternsSubscriber::spinThread() { while(ontologenius::compat::onto_ros::Node::ok()) - { if(need_to_terminate_) - { break; - } - } } } // namespace onto From 534e7073d6ef579097ca400c984d6b494feb024b Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 30 Oct 2024 14:36:08 +0100 Subject: [PATCH 15/49] [ontopy] add PatternsSubscriber --- ontopy/ontologenius/OntologyManipulator.py | 5 +- ontopy/ontologenius/PatternsSubscriber.py | 85 +++++++++++++++++++++ ontopy/ontologenius/__init__.py | 1 + src/API/ontologenius/PatternsSubscriber.cpp | 11 +-- 4 files changed, 96 insertions(+), 6 deletions(-) create mode 100644 ontopy/ontologenius/PatternsSubscriber.py diff --git a/ontopy/ontologenius/OntologyManipulator.py b/ontopy/ontologenius/OntologyManipulator.py index 8a51c103..9a8cc4be 100644 --- a/ontopy/ontologenius/OntologyManipulator.py +++ b/ontopy/ontologenius/OntologyManipulator.py @@ -1,12 +1,14 @@ from .clients import * from .FeederPublisher import FeederPublisher +from .PatternsSubscriber import PatternsSubscriber class OntologyManipulator: """The OntologyManipulator class is just an object to access all API ROS abstraction classes so that you can query and manage ontologenius.""" def __init__(self, name = ''): """Constructs an ontology manipulator with. - Can be used in a multi-ontology mode by specifying the name of the ontology name(str). For classic use, do not specify the ontology name name. + Can be used in a multi-ontology mode by specifying the name of the ontology name(str). + For classic use, do not specify the ontology name name. """ self._name = name self.individuals = IndividualClient(name) @@ -17,6 +19,7 @@ def __init__(self, name = ''): self.reasoners = ReasonerClient(name) self.feeder = FeederPublisher(name) self.sparql = SparqlClient(name) + self.subscriber = PatternsSubscriber(name) self.sparql._client.wait() diff --git a/ontopy/ontologenius/PatternsSubscriber.py b/ontopy/ontologenius/PatternsSubscriber.py new file mode 100644 index 00000000..8b33303c --- /dev/null +++ b/ontopy/ontologenius/PatternsSubscriber.py @@ -0,0 +1,85 @@ +from .compat.ros import Ontoros +import os + +from ontologenius.msg import OntologeniusSubscriptionAnswer +from ontologenius.srv import OntologeniusSubscription, OntologeniusUnsubscription + +if os.environ["ROS_VERSION"] == "1": + from ontologenius.srv import OntologeniusSubscriptionRequest + from ontologenius.srv import OntologeniusUnsubscriptionRequest +else: + from ontologenius.srv._ontologenius_subscription import OntologeniusSubscription_Request as OntologeniusSubscriptionRequest + from ontologenius.srv._ontologenius_unsubscription import OntologeniusUnsubscription_Request as OntologeniusUnsubscriptionRequest + +class PatternsSubscriber: + """The PatternsSubscriber class provides an abstraction ontologenius subscription mechanism. + Querying a knowledge base is interesting but when one is waiting a given fact, pulling + the knowledge base can be an issue. To solve that, Ontologenius provide a subscription + mechanism allowing to subscribe not one only to given facts but also to patterns. + """ + + def __init__(self, name): + """Constructs a PatternsSubscriber. + Can be used in a multi-ontology mode by specifying the name of the ontology name(str). + For classic use, name(str) should be defined as ''. + """ + self._name = name + + self._ids = {} + + sub_topic_name = 'ontologenius/subscription_answer' + if self._name != '': + sub_topic_name += '/' + self._name + self._answer_sub = Ontoros.createSubscriber(sub_topic_name, OntologeniusSubscriptionAnswer, self.patternCallback) + + client_sub_name = 'ontologenius/subscribe' + if self._name != '': + client_sub_name += '/' + self._name + self._sub_client = Ontoros.createService(client_sub_name, OntologeniusSubscription) + + client_unsub_name = 'ontologenius/unsubscribe' + if self._name != '': + client_unsub_name += '/' + self._name + self._unsub_client = Ontoros.createService(client_unsub_name, OntologeniusUnsubscription) + + def __del__(self): + ids = self._ids.keys() + for id in ids: + self.cancel(id) + + self._answer_sub.unregister() + + def subscribe(self, pattern, callback, count = -1): + """Subscribes to a given pattern linked to a callback. + The parameter count can be set to limit the subscription. + Default parameter -1 corresponds to an unlimited subscription. + This function returns the subscription id. This later is only used to manually unsubscribe. + """ + request = OntologeniusSubscriptionRequest(data = pattern, count = count) + response = self._sub_client.call(request, False) + if(response): + self._ids[response.id] = callback + return response.id + else: + return None + + def cancel(self, id): + """Manualy unsubscribe from a pattern using the corresponding subscription id. + Return True if the unsubscription suceeded. + """ + request = OntologeniusUnsubscriptionRequest(id = id) + response = self._unsub_client.call(request, False) + if(response): + if(response.id == id): + self._ids.pop(id) + return True + else: + return False + else: + return False + + def patternCallback(self, msg): + if msg.id in self._ids.keys(): + self._ids[msg.id](msg.data) + if(msg.last): + self._ids.pop(msg.id) \ No newline at end of file diff --git a/ontopy/ontologenius/__init__.py b/ontopy/ontologenius/__init__.py index 5e455c30..846e971f 100644 --- a/ontopy/ontologenius/__init__.py +++ b/ontopy/ontologenius/__init__.py @@ -7,3 +7,4 @@ from .OntologiesManipulator import OntologiesManipulator from .FeederPublisher import FeederPublisher from .ConversionClient import ConversionClient +from .PatternsSubscriber import PatternsSubscriber diff --git a/src/API/ontologenius/PatternsSubscriber.cpp b/src/API/ontologenius/PatternsSubscriber.cpp index 4a435a46..ae2a8d7e 100644 --- a/src/API/ontologenius/PatternsSubscriber.cpp +++ b/src/API/ontologenius/PatternsSubscriber.cpp @@ -26,9 +26,9 @@ namespace onto { cancel(id); } - bool PatternsSubscriber::subscribe(const std::string& pattern, - const std::function& callback, - size_t count) + int PatternsSubscriber::subscribe(const std::string& pattern, + const std::function& callback, + size_t count) { auto req = ontologenius::compat::makeRequest(); auto res = ontologenius::compat::makeResponse(); @@ -42,11 +42,12 @@ namespace onto { if(client_subscribe_.call(req, res) != ResultTy::ros_status_failure) { + size_t id = ontologenius::compat::onto_ros::getServicePointer(res)->id; ids_.emplace(ontologenius::compat::onto_ros::getServicePointer(res)->id, callback); - return true; + return (int)id; } else - return false; + return -1; } bool PatternsSubscriber::cancel(size_t id) From 34814297aceea5dbf338983e47268c12528981dd Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 30 Oct 2024 14:36:32 +0100 Subject: [PATCH 16/49] [PatternsSubscriber] returns subscription id --- include/ontologenius/API/ontologenius/OntologyManipulator.h | 3 +++ include/ontologenius/API/ontologenius/PatternsSubscriber.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/include/ontologenius/API/ontologenius/OntologyManipulator.h b/include/ontologenius/API/ontologenius/OntologyManipulator.h index 891d7030..d263dec1 100644 --- a/include/ontologenius/API/ontologenius/OntologyManipulator.h +++ b/include/ontologenius/API/ontologenius/OntologyManipulator.h @@ -5,6 +5,7 @@ #include #include "ontologenius/API/ontologenius/FeederPublisher.h" +#include "ontologenius/API/ontologenius/PatternsSubscriber.h" #include "ontologenius/API/ontologenius/clients/ActionClient.h" #include "ontologenius/API/ontologenius/clients/ReasonerClient.h" #include "ontologenius/API/ontologenius/clients/SparqlClient.h" @@ -59,6 +60,8 @@ namespace onto { FeederPublisher feeder; /// @brief ROS service client to make SPAQRL queries SparqlClient sparql; + /// @brief ROS abstraction to subscribe to fact patterns + PatternsSubscriber subscriber; }; } // namespace onto diff --git a/include/ontologenius/API/ontologenius/PatternsSubscriber.h b/include/ontologenius/API/ontologenius/PatternsSubscriber.h index 025fd188..765437dd 100644 --- a/include/ontologenius/API/ontologenius/PatternsSubscriber.h +++ b/include/ontologenius/API/ontologenius/PatternsSubscriber.h @@ -18,7 +18,7 @@ namespace onto { PatternsSubscriber(const std::string& name = ""); ~PatternsSubscriber(); - bool subscribe(const std::string& pattern, const std::function& callback, size_t count = -1); + int subscribe(const std::string& pattern, const std::function& callback, size_t count = -1); bool cancel(size_t id); bool end() const { return ids_.empty(); } From 764333f933050a87d3b49f66b425ea4126e19969 Mon Sep 17 00:00:00 2001 From: Guillaume Sarthou Date: Wed, 30 Oct 2024 19:03:42 +0100 Subject: [PATCH 17/49] [Doc] CPP API PatternsSubscriber --- docs/cpp_API/ActionClient.html | 92 ++-- docs/cpp_API/ClassClient.html | 108 +++-- docs/cpp_API/ClassIndexClient.html | 112 +++-- docs/cpp_API/ClientBase.html | 84 +++- docs/cpp_API/ClientBaseIndex.html | 94 ++-- docs/cpp_API/ConversionClient.html | 145 ++++-- docs/cpp_API/CppAPI.html | 25 +- docs/cpp_API/DataPropertyClient.html | 71 ++- docs/cpp_API/DataPropertyIndexClient.html | 75 ++- docs/cpp_API/FeederPublisher.html | 188 ++++---- docs/cpp_API/IndividualClient.html | 118 +++-- docs/cpp_API/IndividualIndexClient.html | 120 +++-- docs/cpp_API/ManagerClient.html | 78 +++- docs/cpp_API/ObjectPropertyClient.html | 72 ++- docs/cpp_API/ObjectPropertyIndexClient.html | 74 ++- docs/cpp_API/OntologiesManipulator.html | 83 +++- docs/cpp_API/OntologyClient.html | 100 ++-- docs/cpp_API/OntologyIndexClient.html | 102 +++-- docs/cpp_API/OntologyManipulator.html | 62 ++- docs/cpp_API/OntologyManipulatorIndex.html | 62 ++- docs/cpp_API/PatternsSubscriber.html | 246 ++++++++++ docs/cpp_API/ReasonerClient.html | 68 ++- docs/cpp_API/SparqlClient.html | 61 ++- docs/cpp_API/SparqlIndexClient.html | 47 +- docs/cpp_Tutorials/Tutorials.html | 39 +- .../tutorial1/FindTheIntruder.html | 197 ++++---- .../tutorial1/LaunchTheProgram.html | 240 +++++----- .../tutorial1/ManageTheMultilingual.html | 185 ++++---- .../tutorial1/MostRelevantIntruder.html | 53 +-- .../tutorial1/settingUpTheProgram.html | 297 ++++++------ docs/cpp_Tutorials/tutorial2/FindOurWay.html | 230 +++++----- .../cpp_Tutorials/tutorial2/Presentation.html | 28 +- .../tutorial2/UnderstandOurEnvironment.html | 33 +- .../tutorial3/InsertNewKnowledge.html | 427 +++++++++--------- .../tutorial3/MakeItProactive.html | 77 ++-- .../cpp_Tutorials/tutorial3/Presentation.html | 136 +++--- .../tutorial4/BeliefDivergence.html | 145 +++--- .../tutorial4/CreateMultipleOntologies.html | 103 ++--- .../cpp_Tutorials/tutorial4/Presentation.html | 113 ++--- .../tutorial5/MoveThroughTheAlternatives.html | 199 ++++---- .../cpp_Tutorials/tutorial5/Presentation.html | 123 ++--- docs/cpp_Tutorials/tutorial5/ViewGraph.html | 33 +- docs/cpp_Tutorials/tutorial6/Overview.html | 109 ++--- docs/cpp_Tutorials/tutorial6/Solution.html | 209 ++++----- 44 files changed, 3176 insertions(+), 2087 deletions(-) create mode 100644 docs/cpp_API/PatternsSubscriber.html diff --git a/docs/cpp_API/ActionClient.html b/docs/cpp_API/ActionClient.html index 185a7e6d..81cc0608 100644 --- a/docs/cpp_API/ActionClient.html +++ b/docs/cpp_API/ActionClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ClassClient.html b/docs/cpp_API/ClassClient.html index e959301b..16acca69 100644 --- a/docs/cpp_API/ClassClient.html +++ b/docs/cpp_API/ClassClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ClassIndexClient.html b/docs/cpp_API/ClassIndexClient.html index 0b185d2a..eccbddcb 100644 --- a/docs/cpp_API/ClassIndexClient.html +++ b/docs/cpp_API/ClassIndexClient.html @@ -14,15 +14,15 @@ @@ -248,10 +300,10 @@

std::

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- + \ No newline at end of file diff --git a/docs/cpp_API/ClientBase.html b/docs/cpp_API/ClientBase.html index 958999af..d8eee410 100644 --- a/docs/cpp_API/ClientBase.html +++ b/docs/cpp_API/ClientBase.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ClientBaseIndex.html b/docs/cpp_API/ClientBaseIndex.html index e4123a36..30f9b514 100644 --- a/docs/cpp_API/ClientBaseIndex.html +++ b/docs/cpp_API/ClientBaseIndex.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ConversionClient.html b/docs/cpp_API/ConversionClient.html index c8d0ab4f..50218de7 100644 --- a/docs/cpp_API/ConversionClient.html +++ b/docs/cpp_API/ConversionClient.html @@ -14,15 +14,15 @@
@@ -272,10 +345,10 @@

Brought to you by:

- + \ No newline at end of file diff --git a/docs/cpp_API/CppAPI.html b/docs/cpp_API/CppAPI.html index 3894e800..7fe60fbf 100644 --- a/docs/cpp_API/CppAPI.html +++ b/docs/cpp_API/CppAPI.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/DataPropertyClient.html b/docs/cpp_API/DataPropertyClient.html index 55cd2f20..a6836552 100644 --- a/docs/cpp_API/DataPropertyClient.html +++ b/docs/cpp_API/DataPropertyClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/DataPropertyIndexClient.html b/docs/cpp_API/DataPropertyIndexClient.html index 5bf6d1df..e756b7e5 100644 --- a/docs/cpp_API/DataPropertyIndexClient.html +++ b/docs/cpp_API/DataPropertyIndexClient.html @@ -14,15 +14,15 @@ @@ -184,7 +211,7 @@

std

std::vector<int64_t> DataPropertyIndexClient::getDomain(int64_t index, int depth = -1)

Gives all the domain classes of the property index.

The optional depth parameter can be set to limit tree propagation to a specific value. - The default value -1 represents no propagation limitation while the value 0 corresponds to the direct domains.

+ The default value -1 represents no propagation limitation while the value 0 corresponds to the direct domains.

std::vector<int64_t> DataPropertyIndexClient::getRange(int64_t index)

Gives all the ranges types of the property index.

@@ -201,10 +228,10 @@

std::vect

Brought to you by:

- + \ No newline at end of file diff --git a/docs/cpp_API/FeederPublisher.html b/docs/cpp_API/FeederPublisher.html index 8864cd88..78565e3f 100644 --- a/docs/cpp_API/FeederPublisher.html +++ b/docs/cpp_API/FeederPublisher.html @@ -8,7 +8,7 @@ + integrity="sha384-UHRtZLI+pbxtHCWp1t77Bi1L4ZtiqrqD80Kn4Z8NTSRyMA2Fd33n5dQ8lWUE00s/" crossorigin="anonymous"> @@ -18,7 +18,7 @@
    -
  • github
    • +
  • github
@@ -99,6 +99,7 @@

  • OntologiesManipulator
  • OntologyClient
  • OntologyManipulator
    • +
  • PatternsSubscriber
  • ReasonerClient
  • SparqlClient
  • Index based classes
    • @@ -125,7 +126,7 @@

    FeederPublisher Class

    The FeederPublisher class provides an abstraction for ontologenius feeder topic. More...

    + href="#details">More...

    @@ -149,111 +150,124 @@

    Public Functions

    + href="FeederPublisher.html#FeederPublisher">FeederPublisher(const std::string& + name) + + stamp = onto_ros::Node::get().currentTime()) + + value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) + + onto_ros::Node::get().currentTime()) + + stamp = onto_ros::Node::get().currentTime()) + + stamp = onto_ros::Node::get().currentTime()) + + onto_ros::Node::get().currentTime()) + + onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) + + onto_ros::Node::get().currentTime()) + + onto_ros::Node::get().currentTime()) + + onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) + + href="FeederPublisher.html#removeConcept">removeConcept(const std::string& + from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) + + href="FeederPublisher.html#getNumSubscribers">getNumSubscribers() + href="FeederPublisher.html#waitConnected">waitConnected() + href="FeederPublisher.html#waitUpdate">waitUpdate(int32_t timeout = -1) + timeout = -1) + @@ -268,13 +282,13 @@

    Public Functions

    @@ -299,16 +313,18 @@

    Detailed Description

    Public Function Documentation

    FeederPublisher::FeederPublisher(const std::string& name)

    + class="name">FeederPublisher(const std::string& name)

    Constructs a FeederPublisher.

    Can be used in a multi-ontology mode by specifying the name of the ontology name. For classic use, - name should be defined as "".

    + name should be defined as "". +

    FeederPublisher::addProperty(const std::string& from, const std::string& property, const std::string& + class="name">addProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())

    + onto_ros::Node::get().currentTime()) +

    Adds the fact that from is linked with on by the property property.

    At least from or on must be already known to the system. If one of them is unknown, it will be automatically created. The property can be unknown before calling this function.

    @@ -318,12 +334,14 @@

    FeederPublisher::

    FeederPublisher::addProperty(const std::string& from, const std::string& property, const std::string& + class="name">addProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="type">onto_ros::Time    & stamp = onto_ros::Node::get().currentTime()) +

    Adds the fact that from is linked to the data value of type type by the property - property.

    + property. +

    from must be already known to the system. The property can be unknown before calling this function.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -332,9 +350,10 @@

    FeederPublisher::

    FeederPublisher::addInheritage(const std::string& from, const + class="name">addInheritage(const std::string& from, const std::string& on, const onto_ros::Time& - stamp = onto_ros::Node::get().currentTime())

    + stamp = onto_ros::Node::get().currentTime()) +

    Adds the inheratage: from is a on. from and on could by a class, an individual or a property.

    At least from or on must be already known to the system. If one of them is unknown, it will @@ -345,10 +364,11 @@

    FeederPublisher::<

    FeederPublisher::addLanguage(const std::string& from, const std::string& lang, const std::string& + class="name">addLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())

    + onto_ros::Node::get().currentTime()) +

    Adds the label name in the language lang the class, individual, or property from.

    from must be already known to the system.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -357,8 +377,8 @@

    FeederPublisher::

    FeederPublisher::addConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="name">addConcept    (const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    Adds the class or individual from.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).

    @@ -366,9 +386,10 @@

    FeederPublisher::

    FeederPublisher::addInverseOf(const std::string& property, const + class="name">addInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="type">onto_ros::Time    & stamp = onto_ros::Node::get().currentTime()) +

    Adds the object property inverse axiom that property has for inverse inverse_property.

    property must be already known to the system.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -377,9 +398,10 @@

    FeederPublisher::

    FeederPublisher::removeProperty(const std::string& from, const + class="name">removeProperty(const std::string& from, const std::string& property, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="type">onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) +

    Removes the fact that from is linked to any object by the property property.

    After this action, knowledge of the property is not removed.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -388,10 +410,11 @@

    FeederPublishe

    FeederPublisher::removeProperty(const std::string& from, const + class="name">removeProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())

    + onto_ros::Node::get().currentTime()) +

    Removes the fact that from is linked with on by the property property.

    After this action, knowledge of the property is not removed.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -400,12 +423,14 @@

    FeederPublishe

    FeederPublisher::removeProperty(const std::string& from, const + class="name">removeProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="type">onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) +

    Removes the fact that from is linked to the data value of type type by the property - property.

    + property. +

    After this action, knowledge of the property is not removed.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 time representation (i.e. ros::Time or rclcpp::Time).

    @@ -413,9 +438,10 @@

    FeederPublishe

    FeederPublisher::removeInheritage(const std::string& from, const + class="name">removeInheritage(const std::string& from, const std::string& on, const onto_ros::Time& - stamp = onto_ros::Node::get().currentTime())

    + stamp = onto_ros::Node::get().currentTime()) +

    Removes the inheratage: from is a on. from and on could by a class, an individual or a property.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -424,10 +450,11 @@

    FeederPublis

    FeederPublisher::removeLanguage(const std::string& from, const + class="name">removeLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())

    + onto_ros::Node::get().currentTime()) +

    Removes the label name in the language lang the class, individual, or property from.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -436,8 +463,9 @@

    FeederPublisher:

    FeederPublisher::removeConcept(const std::string& from, const - onto_ros::Time& stamp = onto_ros::Node::get().currentTime())

    + class="name">removeConcept(const std::string& from, const + onto_ros::Time& stamp = onto_ros::Node::get().currentTime()) +

    Removes the class or individual from.

    All inheritance, properties, and labels applied to from are also removed.

    onto_ros::Time is an abstraction of the ROS time definition which can be provided either with ROS1 and ROS2 @@ -450,18 +478,18 @@

    Returns the number of subscribers that are currently connected to the internal ROS publisher.

    FeederPublisher::waitConnected()

    + class="name">waitConnected    ()

    Blocks while no subscribers are currently connected to the internal ROS publisher.

    bool FeederPublisher::waitUpdate(int32_t timeout = -1)

    + class="name">waitUpdate(int32_ttimeout = -1)

    Waits until all changes have been applied.

    The default parameter timeout is the expiration time in milliseconds. The default value -1 represents an infinite wait.

    Returns false if the function returns on a timeout.

    std::string FeederPublisher::commit(int32_t timeout = -1)

    + class="name">commit(int32_ttimeout = -1)

    Saves all the modifications from the previous commit and waits until all changes have been applied.

    The default parameter timeout is the expiration time in milliseconds. The default value -1 represents an infinite wait.

    @@ -469,8 +497,8 @@

    std::stringThis function can only be used on a copied ontology.

    bool FeederPublisher::commit(const std::string& commit_name, int32_t timeout = -1)

    + class="name">commit    (const std::string& commit_name, int32_t timeout = -1)

    Saves all the modifications from the previous commit with a specific id commit_name and waits until all changes have been applied.

    The default parameter timeout is the expiration time in milliseconds. The default value -1 @@ -479,8 +507,8 @@

    bool

    This function can only be used on a copied ontology.

    bool FeederPublisher::checkout(const std::string& commit_name, int32_t timeout = -1)

    + class="name">checkout(const std::string& commit_name, int32_ttimeout = -1)

    Apply the necessary changes to return to the specified commit_name and waits until all changes have been applied.

    The default parameter timeout is the expiration time in milliseconds. The default value -1 @@ -489,18 +517,18 @@

    boolThis function can only be used on a copied ontology.

    void FeederPublisher::registerFeederNotificationCallback(const std::function<void(const std::string&)>& callback)

    + class="type">void     FeederPublisher::registerFeederNotificationCallback(const std::function<void(const std::string&)>& callback)

    Register a callback function to get notifications from the feeder.

    The parameter callback is the callback function taking a string.

    void FeederPublisher::registerReasonersNotificationCallback(const std::function<void(const std::string&)>& callback)

    + name="registerReasonersNotificationCallback">void FeederPublisher::registerReasonersNotificationCallback(const std::function<void(const std::string&)>& callback)

    Register a callback function to get notifications from the reasoners.

    The parameter callback is the callback function taking a string.

    diff --git a/docs/cpp_API/IndividualClient.html b/docs/cpp_API/IndividualClient.html index 9da4a0ec..7ae1863f 100644 --- a/docs/cpp_API/IndividualClient.html +++ b/docs/cpp_API/IndividualClient.html @@ -14,15 +14,15 @@
    FeederPublisher(const std::string& - name)
    addProperty(const std::string& from, + href="FeederPublisher.html#addProperty">addProperty(const std::string& from, const std::string& property, const std::string& on, const onto_ros::Time& - stamp = onto_ros::Node::get().currentTime())
    addProperty(const std::string& from, + href="FeederPublisher.html#addProperty">addProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& - value, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())
    addInheritage(const std::string& + href="FeederPublisher.html#addInheritage">addInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())
    addLanguage(const std::string& from, + href="FeederPublisher.html#addLanguage">addLanguage(const std::string& from, const std::string& lang, const std::string& name, const onto_ros::Time& - stamp = onto_ros::Node::get().currentTime())
    addConcept(const std::string& from, + href="FeederPublisher.html#addConcept">addConcept(const std::string& from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())
    addInverseOf(const std::string& + href="FeederPublisher.html#addInverseOf">addInverseOf(const std::string& property, const std::string& inverse_property, const onto_ros::Time& - stamp = onto_ros::Node::get().currentTime())
    removeProperty(const std::string& + href="FeederPublisher.html#removeProperty0">removeProperty(const std::string& from, const std::string& property, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())
    removeProperty(const std::string& + href="FeederPublisher.html#removeProperty1">removeProperty(const std::string& from, const std::string& property, const std::string& on, const - onto_ros::Time& stamp = onto_ros::Node::get().currentTime())
    removeProperty(const std::string& + href="FeederPublisher.html#removeProperty2">removeProperty(const std::string& from, const std::string& property, const std::string& type, const std::string& value, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())
    removeInheritage(const std::string& + href="FeederPublisher.html#removeInheritage">removeInheritage(const std::string& from, const std::string& on, const onto_ros::Time& stamp = - onto_ros::Node::get().currentTime())
    removeLanguage(const std::string& + href="FeederPublisher.html#removeLanguage">removeLanguage(const std::string& from, const std::string& lang, const std::string& name, const - onto_ros::Time& stamp = onto_ros::Node::get().currentTime())
    removeConcept(const std::string& - from, const onto_ros::Time& stamp = onto_ros::Node::get().currentTime())
    size_t getNumSubscribers()
    waitConnected()
    bool waitUpdate(int32_t timeout = -1)
    std::string commit(int32_t - timeout = -1)
    bool
    registerFeederNotificationCallback(const + href="FeederPublisher.html#registerFeederNotificationCallback">registerFeederNotificationCallback(const std::function<void(const std::string&)>& callback)
    registerReasonersNotificationCallback(const + href="FeederPublisher.html#registerReasonersNotificationCallback">registerReasonersNotificationCallback(const std::function<void(const std::string&)>& callback)
    - - - - -
    Header: #include "ontologenius/clients/ontologyClients/IndividualClient.h"
    Inherits: OntologyClient
    Namespace: onto
    + + + Header: + #include "ontologenius/clients/ontologyClients/IndividualClient.h" + + + Inherits: + OntologyClient + + + Namespace: + onto + + +
    @@ -137,21 +148,66 @@

    Public Functions

    - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    IndividualClient(const std::string& name)
    std::vector<std::string> getType(const std::string& name)
    std::vector<std::string> getSame(const std::string& name)
    std::vector<std::string> getDistincts(const std::string& name)
    std::vector<std::string> getOn(const std::string& name, const std::string& property, const std::string& selector = "")
    std::vector<std::string> getFrom(const std::string& property, const std::string& name, const std::string& selector = "")
    std::vector<std::string> getWith(const std::string& name_from, const std::string& name_to, const std::string& selector = "", int depth = -1)
    std::vector<std::string> getRelatedFrom(const std::string& property)
    std::vector<std::string> getRelatedOn(const std::string& property)
    std::vector<std::string> getRelatedWith(const std::string& name)
    std::vector<std::string> getRelationFrom(const std::string& name, int depth = -1)
    std::vector<std::string> getRelationOn(const std::string& name, int depth = -1)
    std::vector<std::string> getRelationWith(const std::string& name)
    std::vector<std::string> getDomainOf(const std::string& name, const std::string& selector = "", int depth = -1)
    std::vector<std::string> getRangeOf(const std::string& name, const std::string& selector = "", int depth = -1)
    IndividualClient(const std::string& name)
    std::vector<std::string> getType(const std::string& name)
    std::vector<std::string> getSame(const std::string& name)
    std::vector<std::string> getDistincts(const std::string& name)
    std::vector<std::string> getOn(const std::string& name, const std::string& property, const std::string& selector = "")
    std::vector<std::string> getFrom(const std::string& property, const std::string& name, const std::string& selector = "")
    std::vector<std::string> getWith(const std::string& name_from, const std::string& name_to, const std::string& selector = "", int depth = -1)
    std::vector<std::string> getRelatedFrom(const std::string& property)
    std::vector<std::string> getRelatedOn(const std::string& property)
    std::vector<std::string> getRelatedWith(const std::string& name)
    std::vector<std::string> getRelationFrom(const std::string& name, int depth = -1)
    std::vector<std::string> getRelationOn(const std::string& name, int depth = -1)
    std::vector<std::string> getRelationWith(const std::string& name)
    std::vector<std::string> getDomainOf(const std::string& name, const std::string& selector = "", int depth = -1)
    std::vector<std::string> getRangeOf(const std::string& name, const std::string& selector = "", int depth = -1)
    @@ -244,10 +300,10 @@

    std::

    Brought to you by:

    - + \ No newline at end of file diff --git a/docs/cpp_API/IndividualIndexClient.html b/docs/cpp_API/IndividualIndexClient.html index a141acef..45b8c12e 100644 --- a/docs/cpp_API/IndividualIndexClient.html +++ b/docs/cpp_API/IndividualIndexClient.html @@ -14,15 +14,15 @@ @@ -248,10 +304,10 @@

    std::

    Brought to you by:

    - + \ No newline at end of file diff --git a/docs/cpp_API/ManagerClient.html b/docs/cpp_API/ManagerClient.html index f91bf196..c0828eac 100644 --- a/docs/cpp_API/ManagerClient.html +++ b/docs/cpp_API/ManagerClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ObjectPropertyClient.html b/docs/cpp_API/ObjectPropertyClient.html index 54360095..12079b19 100644 --- a/docs/cpp_API/ObjectPropertyClient.html +++ b/docs/cpp_API/ObjectPropertyClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/ObjectPropertyIndexClient.html b/docs/cpp_API/ObjectPropertyIndexClient.html index 7244f685..e4dddbb3 100644 --- a/docs/cpp_API/ObjectPropertyIndexClient.html +++ b/docs/cpp_API/ObjectPropertyIndexClient.html @@ -14,15 +14,15 @@ @@ -186,12 +214,12 @@

    std

    std::vector<int64_t> ObjectPropertyIndexClient::getDomain(int64_t index, int depth = -1)

    Gives all the domain classes of the property index.

    The optional depth parameter can be set to limit tree propagation to a specific value. - The default value -1 represents no propagation limitation while the value 0 corresponds to the direct domains.

    + The default value -1 represents no propagation limitation while the value 0 corresponds to the direct domains.

    std::vector<int64_t> ObjectPropertyIndexClient::getRange(int64_t index, int depth = -1)

    Gives all the ranges classes of the property index.

    The optional depth parameter can be set to limit tree propagation to a specific value. - The default value -1 represents no propagation limitation while the value 0 corresponds to the direct ranges.

    + The default value -1 represents no propagation limitation while the value 0 corresponds to the direct ranges.

    std::vector<int64_t> ObjectPropertyIndexClient::getInverse(int64_t index)

    Gives all the inverses properties of the property index.

    @@ -208,10 +236,10 @@

    std::

    Brought to you by:

    - + \ No newline at end of file diff --git a/docs/cpp_API/OntologiesManipulator.html b/docs/cpp_API/OntologiesManipulator.html index 65361782..8d152e9d 100644 --- a/docs/cpp_API/OntologiesManipulator.html +++ b/docs/cpp_API/OntologiesManipulator.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/OntologyClient.html b/docs/cpp_API/OntologyClient.html index 71580ca7..08b4abe9 100644 --- a/docs/cpp_API/OntologyClient.html +++ b/docs/cpp_API/OntologyClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/OntologyIndexClient.html b/docs/cpp_API/OntologyIndexClient.html index e271c183..a31a1e23 100644 --- a/docs/cpp_API/OntologyIndexClient.html +++ b/docs/cpp_API/OntologyIndexClient.html @@ -14,15 +14,15 @@ @@ -247,10 +295,10 @@

    Muted labels

    Brought to you by:

    - + \ No newline at end of file diff --git a/docs/cpp_API/OntologyManipulator.html b/docs/cpp_API/OntologyManipulator.html index 9358f5b5..97ecf415 100644 --- a/docs/cpp_API/OntologyManipulator.html +++ b/docs/cpp_API/OntologyManipulator.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/OntologyManipulatorIndex.html b/docs/cpp_API/OntologyManipulatorIndex.html index 3c8b6f72..d54ce397 100644 --- a/docs/cpp_API/OntologyManipulatorIndex.html +++ b/docs/cpp_API/OntologyManipulatorIndex.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/PatternsSubscriber.html b/docs/cpp_API/PatternsSubscriber.html new file mode 100644 index 00000000..4874b3d7 --- /dev/null +++ b/docs/cpp_API/PatternsSubscriber.html @@ -0,0 +1,246 @@ + + + + PatternsSubscriber Class (cpp) | Ontologenius 0.4.2 + + + + + + + + + + + +
    + +
    + +

    Ontologenius Cpp API Documentation

    +
    + +
    +
    +
    +
    +

    Contents

    + +
    + +
    +
    +

    Getting Start

    + +
    + +
    +
    +

    Overview

    + +
    + +
    +
    +

    + + + All C++ Classes + +

    + +
    +

    + + + All Python Classes + +

    +
    +
    + +
    +

    PatternsSubscriber Class

    +

    The PatternsSubscriber class provides an abstraction ontologenius subscription mechanism.More...

    +
    + + + + + + + + + + + +
    Header: #include + "ontologenius/PatternsSubscriber.h"
    Namespace: onto
    +
    + + +

    Public Functions

    +
    + + + + + + + + + + + + + + + + + + + +
    PatternsSubscriber(const + std::string& name)
    int subscribe + (const std::string& pattern, + const std::function<void(const std::string&)>& callback, + int count = -1)
    boolcancel(size_t id) +
    bool end() +
    +
    + + +
    +

    Detailed Description

    +

    The PatternsSubscriber class provides an abstraction ontologenius subscription mechanism.

    +

    Querying a knowledge base is interesting but when one is waiting a given fact, pulling + the knowledge base can be an issue. To solve that, Ontologenius provide a subscription + mechanism allowing to subscribe not one only to given facts but also to patterns.

    +
    + +
    +

    Public Function Documentation

    + +

    PatternsSubscriber::PatternsSubscriber(const std::string& name) +

    +

    Constructs a pattern subscriber.

    +

    Can be used in a multi-ontology mode by specifying the name of the ontology name. For classic use, + name should be defined as "". +

    + +

    int + PatternsSubscriber::subscribe(const std::string& + pattern, const std::function<void(const std::string&)>& callback, int count = -1) +

    +

    Subscribes to a given pattern linked to a callback. Patterns are in the form "[add]subject|property|object". + Subject and object can be set as classes such as "[add]Cube|isOnTopOf|Table" to subscibe to any fact representing a cube being on a table. + In addition, any of the four elements can be setted with question mark which can be read as "any". For example, + "[?]?isOnTopOf|Table" to subscribe to any deletion or addition of any thing being on a entity of type Table.

    +

    The parameter count can be set to limit the subscription. + Default parameter -1 corresponds to an unlimited subscription.

    +

    This function returns the subscription id. This later is only used to manually unsubscribe.

    + + +

    bool PatternsSubscriber::cancel(size_t id)

    +

    Manualy unsubscribe from a pattern using the corresponding subscription id.

    +

    Return True if the unsubscription suceeded.

    + +

    bool + PatternsSubscriber::end() +

    +

    Tests if any subscription is still ongoing.

    + +
    +
    +
    + +
    + + +
    +
    +

    + Brought to you by: + +

    +
    +
    + + \ No newline at end of file diff --git a/docs/cpp_API/ReasonerClient.html b/docs/cpp_API/ReasonerClient.html index 6ecdb2b9..2b0a8c75 100644 --- a/docs/cpp_API/ReasonerClient.html +++ b/docs/cpp_API/ReasonerClient.html @@ -14,15 +14,15 @@ - + \ No newline at end of file diff --git a/docs/cpp_API/SparqlClient.html b/docs/cpp_API/SparqlClient.html index 23335cef..5a48a6dd 100644 --- a/docs/cpp_API/SparqlClient.html +++ b/docs/cpp_API/SparqlClient.html @@ -14,15 +14,15 @@ @@ -185,10 +198,10 @@

    Basic query Examples

    Brought to you by:

    - + \ No newline at end of file diff --git a/docs/cpp_Tutorials/Tutorials.html b/docs/cpp_Tutorials/Tutorials.html index 9629184d..0c624af1 100644 --- a/docs/cpp_Tutorials/Tutorials.html +++ b/docs/cpp_Tutorials/Tutorials.html @@ -16,15 +16,15 @@