Restructured message and action interface

CMakeLists.txt

@@ -24,6 +24,9 @@ add_message_files(
     DIRECTORY msg
     FILES
     KeyValuePair.msg
+    ModalFrame.msg
+    Triple.msg
+    TellMessage.msg
     GraphQueryMessage.msg
     GraphAnswerMessage.msg
     EventToken.msg

Dockerfile

@@ -23,17 +23,19 @@ RUN apt install -y ros-noetic-tf2-geometry-msgs
 RUN mkdir /catkin_ws
 RUN mkdir /catkin_ws/src
 
+# Build workspace with knowrob
 WORKDIR /catkin_ws/src
-# Clone the knowrob repository
 RUN git clone https://github.com/knowrob/knowrob.git
-# Add the knowrob-ros1 repository
-ADD . /catkin_ws/src/knowrob_ros
-
 WORKDIR /catkin_ws
-# Build the catkin workspace
 RUN /usr/bin/catkin init
 RUN . /opt/ros/noetic/setup.sh && /usr/bin/catkin build
 
+# Build workspace with knowrob_ros
+WORKDIR /catkin_ws/src
+ADD . /catkin_ws/src/knowrob_ros
+WORKDIR /catkin_ws
+RUN . /opt/ros/noetic/setup.sh && /usr/bin/catkin build
+
 COPY run_knowrob.sh /run_knowrob.sh
 COPY run_knowrob_local.sh /run_knowrob_local.sh
 

action/Tell.action

@@ -1,4 +1,4 @@
-GraphQueryMessage query
+TellMessage tell
 ---
 byte TRUE = 0
 byte TELL_FAILED = 1

include/ROSInterface.h

@@ -15,6 +15,7 @@
 #include "knowrob/KnowledgeBase.h"
 #include "knowrob/queries/QueryParser.h"
 #include "knowrob/formulas/ModalFormula.h"
+#include "knowrob/terms/String.h"
 // ROS
 #include <ros/ros.h>
 #include <ros/console.h>
@@ -28,7 +29,9 @@
 #include <knowrob_ros/AskIncrementalNextSolutionAction.h>
 #include <knowrob_ros/AskIncrementalFinish.h>
 #include <knowrob_ros/TellAction.h>
+#include <knowrob_ros/ModalFrame.h>
 #include <actionlib/server/simple_action_server.h>
+
 // std
 #include <mutex>
 
@@ -114,7 +117,7 @@ namespace knowrob {
 		 * @param query A GraphQueryMessage
 		 * @return Map of key-value pairs
 		 */
-		std::unordered_map<std::string, boost::any> translateGraphQueryMessage(const GraphQueryMessage &query);
+		std::unordered_map<std::string, boost::any> translateModalityFrameMessage(const ModalFrame &frame);
 
 		/**
 		 * Translate a answer into a GraphAnswerMessage

msg/GraphQueryMessage.msg

@@ -1,21 +1,6 @@
 # Languages in which graph queries can be encoded.
 uint8 LANG_FOL=0 # Prolog-like syntax, @see ....
 
-# Epistemic operators distinguishing knowledge and belief.
-# Note that the operators can be indexed by an agent
-# meaning that another agent has the knowledge or belief.
-uint8 KNOWLEDGE=0 # "it is certain that ..."
-uint8 BELIEF=1    # "it could be that ..."
-
-# Temporal operators used to query truth
-# of statements within time intervals.
-uint8 CURRENTLY=0 # "it is now the case that ..."
-uint8 ALL_PAST=1  # "it always was that ..."
-uint8 SOME_PAST=2 # "it was the case that ..."
-
-# Used to indicate that a timestamp remains unspecified.
-float64 UNSPECIFIED_TIMESTAMP=-1.0
-
 # Configure the language in which the graph query is encoded.
 string lang # Default: LANG_FOL
 
@@ -26,42 +11,5 @@ string lang # Default: LANG_FOL
 # via the "lang" field.
 string queryString
 
-# Determines the epistemic modality which is concerned
-# with distinguishing knowledge (certain) from belief (uncertain).
-# Defaults to KNOWLEDGE modality.
-uint8 epistemicOperator # Default: KNOWLEDGE
-
-# The IRI of another agent (i.e. not the controlled agent).
-# Used to query whether another agent might has some knowledge
-# or belief. This is thought to be used in HRI and multirobot
-# scenarios where the robot estimates knowledge and belief of
-# another agent.
-# Defaults to empty string indicating that the query is about
-# the agent's own knowledge or belief.
-# Cannot be set in parallel with the aboutSimulationIRI parameter
-string aboutAgentIRI # Default: ""
-
-# The IRI to an KG of a mental simulation. 
-# The IRI will be returned as the output of an MentalSimulation
-# Action. This is thought to be used in mental emulation
-# and also visual anticipation tasks.
-# Defaults to empty string indicating that the query is about
-# the agen'ts own knowledge or beliefstate.
-# Cannot be set in parallel with the aboutAgenIRI parameter
-string aboutSimulationIRI # Default: ""
-
-# Determines the temporal modality of the query.
-# Temporal modalities are used to cope with characteristics
-# that change over time.
-uint8 temporalOperator # Default: CURRENTLY
-
-# The time interval considered by the past operator can be constrained
-# by min/max timestamp parameters.
-# If minPastTimestamp>0, then statements are only considered that are
-# true after the time indicated by minPastTimestamp. Similarly for maxPastTimestamp.
-# It is also allowed to set only one of the fields to a positive value.
-float64 minPastTimestamp # Default: UNSPECIFIED_TIMESTAMP
-float64 maxPastTimestamp # Default: UNSPECIFIED_TIMESTAMP
-
-# The minimal confidence of the statement
-float64 confidence # Default: 0.0
+# Determines the modal frame in which the triple is assumed to be true.
+ModalFrame frame

msg/ModalFrame.msg

@@ -0,0 +1,54 @@
+# Epistemic operators distinguishing knowledge and belief.
+# Note that the operators can be indexed by an agent
+# meaning that another agent has the knowledge or belief.
+uint8 KNOWLEDGE=0 # "it is certain that ..."
+uint8 BELIEF=1    # "it could be that ..."
+
+# Temporal operators used to query truth
+# of statements within time intervals.
+uint8 CURRENTLY=0 # "it is now the case that ..."
+uint8 ALL_PAST=1  # "it always was that ..."
+uint8 SOME_PAST=2 # "it was the case that ..."
+
+# Used to indicate that a timestamp remains unspecified.
+float64 UNSPECIFIED_TIMESTAMP=-1.0
+
+# Determines the epistemic modality which is concerned
+# with distinguishing knowledge (certain) from belief (uncertain).
+# Defaults to KNOWLEDGE modality.
+uint8 epistemicOperator # Default: KNOWLEDGE
+
+# The IRI of another agent (i.e. not the controlled agent).
+# Used to query whether another agent might has some knowledge
+# or belief. This is thought to be used in HRI and multirobot
+# scenarios where the robot estimates knowledge and belief of
+# another agent.
+# Defaults to empty string indicating that the query is about
+# the agent's own knowledge or belief.
+# Cannot be set in parallel with the aboutSimulationIRI parameter
+string aboutAgentIRI # Default: ""
+
+# The IRI to an KG of a mental simulation.
+# The IRI will be returned as the output of an MentalSimulation
+# Action. This is thought to be used in mental emulation
+# and also visual anticipation tasks.
+# Defaults to empty string indicating that the query is about
+# the agen'ts own knowledge or beliefstate.
+# Cannot be set in parallel with the aboutAgenIRI parameter
+string aboutSimulationIRI # Default: ""
+
+# Determines the temporal modality of the query.
+# Temporal modalities are used to cope with characteristics
+# that change over time.
+uint8 temporalOperator # Default: CURRENTLY
+
+# The time interval considered by the past operator can be constrained
+# by min/max timestamp parameters.
+# If minPastTimestamp>0, then statements are only considered that are
+# true after the time indicated by minPastTimestamp. Similarly for maxPastTimestamp.
+# It is also allowed to set only one of the fields to a positive value.
+float64 minPastTimestamp # Default: UNSPECIFIED_TIMESTAMP
+float64 maxPastTimestamp # Default: UNSPECIFIED_TIMESTAMP
+
+# The minimal confidence of the statement
+float64 confidence # Default: 0.0

msg/TellMessage.msg

@@ -0,0 +1,2 @@
+Triple[] triples
+ModalFrame frame

msg/Triple.msg

@@ -0,0 +1,3 @@
+string subject
+string predicate
+string object

src/ROSInterface.cpp

@@ -54,15 +54,15 @@ ROSInterface::ROSInterface(const boost::property_tree::ptree &config)
 ROSInterface::~ROSInterface() = default;
 
 // Function to convert GraphQueryMessage to std::unordered_map
-std::unordered_map<std::string, boost::any> ROSInterface::translateGraphQueryMessage(const GraphQueryMessage &query) {
+std::unordered_map<std::string, boost::any> ROSInterface::translateModalityFrameMessage(const ModalFrame &frame) {
 	std::unordered_map<std::string, boost::any> options;
 
-	options["epistemicOperator"] = int(query.epistemicOperator);
-	options["aboutAgentIRI"] = query.aboutAgentIRI;
-	options["confidence"] = query.confidence;
-	options["temporalOperator"] = int(query.temporalOperator);
-	options["minPastTimestamp"] = query.minPastTimestamp;
-	options["maxPastTimestamp"] = query.maxPastTimestamp;
+	options["epistemicOperator"] = int(frame.epistemicOperator);
+	options["aboutAgentIRI"] = frame.aboutAgentIRI;
+	options["confidence"] = frame.confidence;
+	options["temporalOperator"] = int(frame.temporalOperator);
+	options["minPastTimestamp"] = frame.minPastTimestamp;
+	options["maxPastTimestamp"] = frame.maxPastTimestamp;
 
 	return options;
 }
@@ -130,10 +130,9 @@ GraphAnswerMessage ROSInterface::createGraphAnswer(std::shared_ptr<const AnswerY
 
 void ROSInterface::executeAskAllCB(const AskAllGoalConstPtr &goal) {
 
-	// Implement your action here
 	FormulaPtr phi(QueryParser::parse(goal->query.queryString));
 
-	FormulaPtr mPhi = InterfaceUtils::applyModality(translateGraphQueryMessage(goal->query), phi);
+	FormulaPtr mPhi = InterfaceUtils::applyModality(translateModalityFrameMessage(goal->query.frame), phi);
 
 	auto ctx = std::make_shared<QueryContext>(QUERY_FLAG_ALL_SOLUTIONS);
 	auto resultStream = kb_->submitQuery(mPhi, ctx);
@@ -178,10 +177,9 @@ void ROSInterface::executeAskAllCB(const AskAllGoalConstPtr &goal) {
 void ROSInterface::executeAskIncrementalCB(const AskIncrementalGoalConstPtr &goal) {
 	std::lock_guard<std::mutex> lock(query_mutex_);
 
-	// Implement your action here
 	FormulaPtr phi(QueryParser::parse(goal->query.queryString));
 
-	FormulaPtr mPhi = InterfaceUtils::applyModality(translateGraphQueryMessage(goal->query), phi);
+	FormulaPtr mPhi = InterfaceUtils::applyModality(translateModalityFrameMessage(goal->query.frame), phi);
 
 	auto ctx = std::make_shared<QueryContext>(QUERY_FLAG_ALL_SOLUTIONS);
 	auto resultStream = kb_->submitQuery(mPhi, ctx);
@@ -275,9 +273,10 @@ bool ROSInterface::handleAskIncrementalFinish(AskIncrementalFinish::Request &req
 }
 
 void ROSInterface::executeAskOneCB(const AskOneGoalConstPtr &goal) {
+
 	FormulaPtr phi(QueryParser::parse(goal->query.queryString));
 
-	FormulaPtr mPhi = InterfaceUtils::applyModality(translateGraphQueryMessage(goal->query), phi);
+	FormulaPtr mPhi = InterfaceUtils::applyModality(translateModalityFrameMessage(goal->query.frame), phi);
 
 	auto ctx = std::make_shared<QueryContext>(QUERY_FLAG_ALL_SOLUTIONS);
 	auto resultStream = kb_->submitQuery(mPhi, ctx);
@@ -307,9 +306,24 @@ void ROSInterface::executeAskOneCB(const AskOneGoalConstPtr &goal) {
 }
 
 void ROSInterface::executeTellCB(const TellGoalConstPtr &goal) {
-	FormulaPtr phi(QueryParser::parse(goal->query.queryString));
 
-	FormulaPtr mPhi = InterfaceUtils::applyModality(translateGraphQueryMessage(goal->query), phi);
+	// Create a vector of Formulas
+	std::vector<FormulaPtr> formulas;
+	// For each triple
+	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 to formulas
+		formulas.push_back(std::make_shared<Predicate>(triple.predicate, terms));
+	}
+	// Create conjunction of all formulas
+	FormulaPtr phi = std::make_shared<Conjunction>(formulas);
+
+	FormulaPtr mPhi = InterfaceUtils::applyModality(translateModalityFrameMessage(goal->tell.frame), phi);
 
 	bool success = InterfaceUtils::assertStatements(kb_, {mPhi});