fix to tell interface and added export

CMakeLists.txt

@@ -49,6 +49,7 @@ add_service_files(
     DIRECTORY srv
     FILES
     AskIncrementalFinish.srv
+    ExportTriples.srv
 )
 generate_messages(DEPENDENCIES
     std_msgs

include/ROSInterface.h

@@ -30,6 +30,7 @@
 #include <knowrob_ros/AskIncrementalFinish.h>
 #include <knowrob_ros/TellAction.h>
 #include <knowrob_ros/ModalFrame.h>
+#include <knowrob_ros/ExportTriples.h>
 #include <actionlib/server/simple_action_server.h>
 
 // std
@@ -50,6 +51,7 @@ namespace knowrob {
 
 		// ROS Services
 		ros::ServiceServer ask_incremental_finish_service_;
+		ros::ServiceServer export_server_;
 
 		// KnowledgeBase
 		KnowledgeBasePtr kb_;
@@ -110,6 +112,15 @@ namespace knowrob {
 		bool handleAskIncrementalFinish(AskIncrementalFinish::Request &req,
 										AskIncrementalFinish::Response &res);
 
+		/**
+		 * 	Export the knowledge base to a file
+		 * @param req ExportTriples::Request
+		 * @param res ExportTriples::Response
+		 * @return true if the export was successful
+		 */
+		bool executeExportCB(ExportTriples::Request &req,
+							ExportTriples::Response &res);
+
 		/**
 		 * Translate a GraphQueryMessage into a map of key-value pairs
 		 * that can be used by applyModality

src/ROSInterface.cpp

@@ -49,6 +49,7 @@ ROSInterface::ROSInterface(const boost::property_tree::ptree &config)
 	tell_action_server_.start();
 	ask_incremental_finish_service_ = nh_.advertiseService("knowrob/askincremental_finish",
 														   &ROSInterface::handleAskIncrementalFinish, this);
+	export_server_ = nh_.advertiseService("knowrob/export", &ROSInterface::executeExportCB, this);
 }
 
 ROSInterface::~ROSInterface() = default;
@@ -313,10 +314,17 @@ void ROSInterface::executeTellCB(const TellGoalConstPtr &goal) {
 	for (const auto &triple: goal->tell.triples) {
 		// Create a vector of Terms for subject and object
 		std::vector<TermPtr> terms;
-		// Add subject
-		terms.push_back(std::make_shared<String>(triple.subject.data()));
-		// Add object
-		terms.push_back(std::make_shared<String>(triple.object.data()));
+		// Add subject (always IRIAtom) (make stringview before)
+		terms.push_back(IRIAtom::Tabled(triple.subject.data()));
+		// Add object (can be IRIAtom, String or Numeric)
+		// If triple.object.data has no surrounding single quotes, add quotes
+		// create a stringview
+		std::string objectString = triple.object.data();
+		if (objectString.front() != '\'' && objectString.back() != '\'') {
+			objectString = "'" + objectString + "'";
+		}
+		TermPtr objectTerm = QueryParser::parseConstant(objectString);
+		terms.push_back(objectTerm);
 		// Add to formulas
 		formulas.push_back(std::make_shared<Predicate>(triple.predicate, terms));
 	}
@@ -339,6 +347,13 @@ void ROSInterface::executeTellCB(const TellGoalConstPtr &goal) {
 	tell_action_server_.setSucceeded(result);
 }
 
+bool ROSInterface::executeExportCB(ExportTriples::Request &req,
+	ExportTriples::Response &res) {
+		kb_->exportTo(req.path);
+		res.success = true;
+		return true;
+}
+
 int main(int argc, char **argv) {
 	InitKnowRob(argc, argv);
 

srv/ExportTriples.srv

@@ -0,0 +1,4 @@
+string path
+---
+# The result of the query
+bool success