Added test cases for ask incremental and tell

scripts/test_knowrob_ros_lib.py

@@ -1,67 +1,119 @@
-from knowrob_ros.knowrob_ros_lib import KnowRobRosLib, graph_answer_to_dict, get_default_modalframe, graph_answers_to_list
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+test_knowrob_ros_lib.py
+
+Unit tests for KnowRobRosLib, now including incremental-query support.
+"""
+
 import unittest
 import rosunit
+
+from knowrob_ros.knowrob_ros_lib import (
+    KnowRobRosLib,
+    TripleQueryBuilder,
+    graph_answer_to_dict,
+    graph_answers_to_list,
+    get_default_modalframe,
+)
 from knowrob_ros.msg import (
-    KeyValuePair,
-    AskOneAction,
-    AskOneGoal,
-    AskOneResult,
-    AskAllAction,
-    AskAllGoal,
     AskAllResult,
-    GraphQueryMessage,
-    GraphAnswerMessage,
+    AskIncrementalResult,
+    AskIncrementalNextSolutionResult,
+    AskOneResult,
+    TellResult,
 )
 
-class TestKnowrobRosLib(unittest.TestCase):
-    def test_ask_all(self):
-        # Test the ask_one function
-        ask_all_result = self.knowrob_ros.ask_all("lpn:jealous(lpn:vincent, X)", get_default_modalframe())
-        self.assertTrue(ask_all_result.status == AskAllResult.TRUE)
-        result_dict = graph_answers_to_list(ask_all_result.answers)
-        print("Result dict:", str(result_dict))
-        self.assertEqual(result_dict, [{
-            'X': 'http://knowrob.org/kb/lpn#marsellus'
-        }])
 
-    def test_ask_one(self):
-        # Test the ask_one function
-        ask_one_result = self.knowrob_ros.ask_one("lpn:jealous(lpn:vincent, X)", get_default_modalframe())
-        self.assertTrue(ask_one_result.status == AskOneResult.TRUE)
-        result_dict = graph_answer_to_dict(ask_one_result.answer)
-        print("Result dict:", str(result_dict))
-        self.assertEqual(result_dict, {
-            'X': 'http://knowrob.org/kb/lpn#marsellus'
-        })
+class TestKnowrobRosLib(unittest.TestCase):
+    """
+    TestCase for KnowRobRosLib, covering AskOne, AskAll, AskIncremental, and Tell.
+    """
 
-    # def test_tell(self):
-    #     # Create the triples to be added
-    #     builder = knowrob_ros_lib.TripleQueryBuilder()
-    #     builder.add("alice", "knows", "bob")
-    #     builder.add("bob", "likes", "pizza")
-    #     query_str = builder.build_query_string()
-
-    #     # Test the tell function
-    #     result = knowrob_ros.tell(query_str)
-    #     self.assertTrue(result.success)
-    #     result = knowrob_ros.ask_all("lpn:jelous(alice, X)")
-    #     self.assertEqual(result.bindings, [{
-    #         'X': 'pizza'
-    #     }])
-
-    # Init the test class
     @classmethod
     def setUpClass(cls):
-        # Initialize the knowrob_ros_lib
+        """
+        Initialize KnowRobRosLib and ROS node once for all tests.
+        """
         cls.knowrob_ros = KnowRobRosLib()
-        # Initialize the ROS node
         cls.knowrob_ros.init_node("test_knowrob_ros_lib")
 
     @classmethod
     def tearDownClass(cls):
-        # Shutdown the ROS node
+        """
+        Shutdown ROS node after all tests.
+        """
         cls.knowrob_ros.shutdown_node()
-
+
+    def test_ask_all(self):
+        """AskAll should return all matches for a query."""
+        result = self.knowrob_ros.ask_all(
+            "lpn:jealous(lpn:vincent, X)",
+            get_default_modalframe()
+        )
+        self.assertEqual(result.status, AskAllResult.TRUE)
+        bindings = graph_answers_to_list(result.answers)
+        self.assertEqual(bindings, [{
+            'X': 'http://knowrob.org/kb/lpn#marsellus'
+        }])
+
+    def test_ask_one(self):
+        """AskOne should return a single binding for a query."""
+        result = self.knowrob_ros.ask_one(
+            "lpn:jealous(lpn:vincent, X)",
+            get_default_modalframe()
+        )
+        self.assertEqual(result.status, AskOneResult.TRUE)
+        binding = graph_answer_to_dict(result.answer)
+        self.assertEqual(binding, {
+            'X': 'http://knowrob.org/kb/lpn#marsellus'
+        })
+
+    def test_tell(self):
+        """Tell should insert triples and they should be queryable."""
+        builder = TripleQueryBuilder()
+        builder.add("alice", "marriedTo", "frank")
+        triples = builder.get_triples()
+
+        tell_result = self.knowrob_ros.tell(triples, get_default_modalframe())
+        self.assertEqual(tell_result.status, TellResult.TRUE)
+
+        query_result = self.knowrob_ros.ask_all(
+            "marriedTo(alice, X)",
+            get_default_modalframe()
+        )
+        bindings = graph_answers_to_list(query_result.answers)
+        self.assertEqual(bindings, [{
+            'X': 'frank'
+        }])
+
+    def test_ask_incremental(self):
+        """
+        Full incremental-query flow: start, get first solution, then finish.
+        """
+        # Start incremental query
+        start = self.knowrob_ros.ask_incremental(
+            "lpn:jealous(lpn:vincent, X)",
+            get_default_modalframe()
+        )
+        self.assertEqual(start.status, AskIncrementalResult.TRUE)
+        query_id = start.queryId
+        self.assertGreater(query_id, 0)
+
+        # Retrieve next (first) solution
+        next_sol = self.knowrob_ros.next_solution(query_id)
+        self.assertEqual(next_sol.status, AskIncrementalNextSolutionResult.TRUE)
+        binding = graph_answer_to_dict(next_sol.answer)
+        self.assertEqual(binding, {
+            'X': 'http://knowrob.org/kb/lpn#marsellus'
+        })
+
+        # Finish incremental query
+        finished = self.knowrob_ros.finish_incremental(query_id)
+        self.assertTrue(finished)
+
+
+# Note: stray free-standing setUpClass below is a duplicate and has no effect on tests.
 @classmethod
 def setUpClass(cls):
     cls.knowrob_ros = KnowRobRosLib()
@@ -70,7 +122,7 @@ def setUpClass(cls):
 
 if __name__ == '__main__':
     rosunit.unitrun(
-        'knowrob_ros',           # your package
+        'knowrob_ros',           # package name
         'test_knowrob_ros_lib',  # test name
-        TestKnowrobRosLib        # your TestCase
-    )
+        TestKnowrobRosLib        # TestCase class
+    )