Added lib and test cases for the ask action interfaces

CMakeLists.txt

@@ -19,7 +19,11 @@ find_package(catkin REQUIRED COMPONENTS
     knowrob
 )
 find_package(spdlog REQUIRED)
+find_package(rostest REQUIRED)
 
+## =============================
+## ROS message generation
+## =============================
 add_message_files(
     DIRECTORY msg
     FILES
@@ -29,7 +33,6 @@ add_message_files(
     TellMessage.msg
     GraphQueryMessage.msg
     GraphAnswerMessage.msg
-    EventToken.msg
 )
 add_action_files(
     DIRECTORY action
@@ -50,7 +53,10 @@ generate_messages(DEPENDENCIES
     actionlib_msgs
 )
 
-catkin_package(CATKIN_DEPENDS roscpp roslib knowrob message_runtime)
+## =============================
+## Catkin package
+## =============================
+catkin_package(CATKIN_DEPENDS roscpp roslib rospy knowrob message_runtime)
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
@@ -65,4 +71,35 @@ add_dependencies(knowrob-ros
 
 target_link_libraries(knowrob-ros ${catkin_LIBRARIES} spdlog::spdlog)
 
+## =============================
+## Python library installation
+## =============================
+
+# Install Python library (e.g., knowrob_ros_lib.py)
+# With this:
+file (COPY 
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/knowrob_ros_lib/knowrob_ros_lib.py
+    DESTINATION ${CATKIN_DEVEL_PREFIX}/lib/python3/dist-packages/knowrob_ros/
+)
+
+catkin_install_python(PROGRAMS
+  scripts/test_knowrob_ros_lib.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## =============================
+## Install binaries
+## =============================
+
 install(TARGETS knowrob-ros RUNTIME DESTINATION bin)
+
+## =============================
+## Install test files
+## =============================
+
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_nosetests(
+    test/test_knowrob_ros_lib.test
+    DEPENDENCIES ${catkin_EXPORTED_TARGETS}
+  )
+endif()

Dockerfile

@@ -30,6 +30,7 @@ WORKDIR /catkin_ws
 RUN /usr/bin/catkin init
 RUN . /opt/ros/noetic/setup.sh && /usr/bin/catkin build
 
+RUN echo "aaaa"
 # Build workspace with knowrob_ros
 WORKDIR /catkin_ws/src
 ADD . /catkin_ws/src/knowrob_ros

README.md

@@ -74,18 +74,23 @@ Then run a query on another terminal:
 ```bash
 rostopic pub /knowrob/askone/goal knowrob_ros/AskOneActionGoal "header:
   seq: 0
-  stamp:
-    secs: 0
-    nsecs: 0
+  stamp: {secs: 0, nsecs: 0}
   frame_id: ''
 goal_id:
-  stamp:
-    secs: 0
-    nsecs: 0
+  stamp: {secs: 0, nsecs: 0}
   id: ''
 goal:
-  query: {lang: '', queryString: 'lpn:jealous(lpn:vincent, X)', epistemicOperator: 0, aboutAgentIRI: '', aboutSimulationIRI: '',
-    temporalOperator: 0, minPastTimestamp: 0.0, maxPastTimestamp: 0.0, confidence: 0.0}" 
+  query:
+    lang: ''
+    queryString: 'lpn:jealous(lpn:vincent, X)'
+    frame:
+      epistemicOperator: 0                                                                                                          
+      aboutAgentIRI: ''
+      aboutSimulationIRI: ''                                                             
+      temporalOperator: 0
+      minPastTimestamp: 0.0
+      maxPastTimestamp: 0.0
+      confidence: 0.0"
 ```
 
 You should now see an answer on the first terminal.

action/AskAll.action

@@ -4,7 +4,7 @@ byte FALSE = 0
 byte TRUE = 1
 byte QUERY_FAILED = 2
 
-GraphAnswerMessage[] answer
+GraphAnswerMessage[] answers
 byte status
 ---
 uint32 numberOfSolutions

msg/GraphQueryMessage.msg

@@ -1,5 +1,5 @@
 # Languages in which graph queries can be encoded.
-uint8 LANG_FOL=0 # Prolog-like syntax, @see ....
+string LANG_FOL="LANG_FOL" # Prolog-like syntax, @see ....
 
 # Configure the language in which the graph query is encoded.
 string lang # Default: LANG_FOL

package.xml

@@ -28,11 +28,14 @@
   <build_depend>visualization_msgs</build_depend>
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>actionlib</exec_depend>
+  <test_depend>rostest</test_depend>
+  <test_depend>python3</test_depend>
 
   <depend>roslib</depend>
   <depend>roscpp</depend>
   <depend>knowrob</depend>
   <depend>spdlog</depend>
+  <depend>rospy</depend>
   <depend>libmongoc-dev</depend>
   <depend>fmt</depend>
 </package>

scripts/test_knowrob_ros_lib.py

@@ -0,0 +1,76 @@
+from knowrob_ros.knowrob_ros_lib import KnowRobRosLib, graph_answer_to_dict, get_default_modalframe, graph_answers_to_list
+import unittest
+import rosunit
+from knowrob_ros.msg import (
+    KeyValuePair,
+    AskOneAction,
+    AskOneGoal,
+    AskOneResult,
+    AskAllAction,
+    AskAllGoal,
+    AskAllResult,
+    GraphQueryMessage,
+    GraphAnswerMessage,
+)
+
+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'
+        })
+
+    # 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
+        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
+        cls.knowrob_ros.shutdown_node()
+
+@classmethod
+def setUpClass(cls):
+    cls.knowrob_ros = KnowRobRosLib()
+    cls.knowrob_ros.init_node("test_knowrob_ros_lib")
+
+
+if __name__ == '__main__':
+    rosunit.unitrun(
+        'knowrob_ros',           # your package
+        'test_knowrob_ros_lib',  # test name
+        TestKnowrobRosLib        # your TestCase
+    )

src/ROSInterface.cpp

@@ -155,7 +155,7 @@ void ROSInterface::executeAskAllCB(const AskAllGoalConstPtr &goal) {
 				} else {
 					// Push one answer
 					GraphAnswerMessage graphAns = createGraphAnswer(positiveAnswer);
-					result.answer.push_back(graphAns);
+					result.answers.push_back(graphAns);
 					numSolutions_ += 1;
 					// publish feedback
 					AskAllFeedback feedback;