TEST(ASPRepComp, ontology1)
{
std::string path = ros::package::getPath("ice");
bool result;
auto oi = std::make_shared<ice::OntologyInterface>(path + "/java/lib/");
oi->addIRIMapper(path + "/ontology/");
ASSERT_FALSE(oi->errorOccurred());
result = oi->addOntologyIRI("http://vs.uni-kassel.de/IceTest");
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
result = oi->loadOntologies();
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
result = oi->isConsistent();
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
std::shared_ptr<ice::GContainerFactory> factory = std::make_shared<ice::GContainerFactory>();
factory->setOntologyInterface(oi);
factory->init();
ice::ASPTransformationGeneration asp;
asp.setOntology(oi);
asp.setGContainerFactory(factory);
asp.extractTransformations();
// Test transformation
std::string name = "autoTrans_o2_Position_o2_CoordinatePositionRep_o0_Pos3D";
auto trans = factory->getTransformationByName(name);
ASSERT_TRUE(trans != false);
auto repIn = factory->getRepresentation("o2_CoordinatePositionRep");
auto repOut = factory->getRepresentation("o0_Pos3D");
ASSERT_TRUE(repIn != false);
ASSERT_TRUE(repOut != false);
auto inX = repIn->accessPath( {"o2_XCoordinate"});
auto inY = repIn->accessPath( {"o2_YCoordinate"});
auto inZ = repIn->accessPath( {"o2_ZCoordinate"});
auto outX = repOut->accessPath( {"o2_XCoordinate"});
auto outY = repOut->accessPath( {"o2_YCoordinate"});
auto outZ = repOut->accessPath( {"o2_ZCoordinate"});
ASSERT_TRUE(inX != nullptr);
ASSERT_TRUE(inY != nullptr);
ASSERT_TRUE(inZ != nullptr);
ASSERT_TRUE(outX != nullptr);
ASSERT_TRUE(outY != nullptr);
ASSERT_TRUE(outZ != nullptr);
auto in = factory->makeInstance(repIn);
double x = 4.44;
double y = 5.55;
double z = 6.66;
in->set(inX, &x);
in->set(inY, &y);
in->set(inZ, &z);
auto out = trans->transform(&in);
EXPECT_EQ(out->getValue<double>(outX), x);
EXPECT_EQ(out->getValue<double>(outY), y);
EXPECT_EQ(out->getValue<double>(outZ), z);
}
TEST(TBKnowledgeBase, twoBots)
{
auto leonardo = std::make_shared<ice::TBKnowledgeBase>("Leonardo");
auto raphael = std::make_shared<ice::TBKnowledgeBase>("Raphael");
leonardo->init();
raphael->init();
ASSERT_TRUE((leonardo->positionLandmarks ? true : false));
ASSERT_TRUE((raphael->positionLandmarks ? true : false));
leonardo->start();
raphael->start();
auto streamStore = leonardo->getKnowlegeBase()->streamStore;
auto setStore = leonardo->getKnowlegeBase()->setStore;
auto factory = leonardo->getGContainerFactory();
// wait some time to enable the engines to find each other
std::this_thread::sleep_for(std::chrono::milliseconds {8000});
// test processing
ASSERT_TRUE((leonardo->positionOwn ? true : false));
ASSERT_TRUE((leonardo->positionRobots ? true : false));
ASSERT_TRUE((leonardo->positionVictims ? true : false));
ASSERT_TRUE((leonardo->positionLandmarks ? true : false));
ASSERT_TRUE((leonardo->dangerZones ? true : false));
ASSERT_TRUE((raphael->positionOwn ? true : false));
ASSERT_TRUE((raphael->positionRobots ? true : false));
ASSERT_TRUE((raphael->positionVictims ? true : false));
ASSERT_TRUE((raphael->positionLandmarks ? true : false));
ASSERT_TRUE((raphael->dangerZones ? true : false));
std::cout << std::endl << "---------------------------------------------------------------" << std::endl;
// get sets and streams
//own pos
auto specPosLeonardo = ice::InformationSpecification("http://vs.uni-kassel.de/TurtleBot#Leonardo",
"http://vs.uni-kassel.de/TurtleBot#TurtleBot",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
auto posLeornardo = streamStore->getStream<ice::PositionOrientation3D>(&specPosLeonardo,
"http://vs.uni-kassel.de/TurtleBot#LocalizeLeonardo",
"http://vs.uni-kassel.de/TurtleBot#Leonardo");
ASSERT_TRUE((posLeornardo ? true : false));
auto specPosLeonardo2 = ice::InformationSpecification("http://vs.uni-kassel.de/TurtleBot#Leonardo",
"http://vs.uni-kassel.de/TurtleBot#TurtleBot",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/Ice#CoordinatePositionRep");
auto posLeornardo2 = streamStore->getStream<ice::Pos3D>(&specPosLeonardo2);
ASSERT_TRUE((posLeornardo2 ? true : false));
auto specPosLeonardo3 = ice::InformationSpecification("http://vs.uni-kassel.de/TurtleBot#Leonardo",
"http://vs.uni-kassel.de/TurtleBot#TurtleBot",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/TurtleBot#RelativeToLandmark");
auto posLeornardo3 = streamStore->getStream<ice::RTLandmark>(&specPosLeonardo3);
ASSERT_TRUE((posLeornardo3 ? true : false));
auto specPosRaphael = ice::InformationSpecification("http://vs.uni-kassel.de/TurtleBot#Raphael",
"http://vs.uni-kassel.de/TurtleBot#TurtleBot",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
auto posRaphael = raphael->getKnowlegeBase()->streamStore->getStream<ice::PositionOrientation3D>(&specPosRaphael);
ASSERT_TRUE((posRaphael ? true : false));
// landmarks
auto landmarksSpec = ice::InformationSpecification("",
"http://vs.uni-kassel.de/TurtleBot#Landmark",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
auto landmarks = setStore->getSet<ice::PositionOrientation3D>(&landmarksSpec,
"http://vs.uni-kassel.de/TurtleBot#DetectLandmarks",
"http://vs.uni-kassel.de/TurtleBot#Leonardo");
ASSERT_TRUE((landmarks ? true : false));
// victims
auto victimsSpec = ice::InformationSpecification("",
"http://vs.uni-kassel.de/TurtleBot#Victim",
"http://vs.uni-kassel.de/Ice#Position",
"http://vs.uni-kassel.de/Ice#CoordinatePositionRep");
auto victims = setStore->getSet<ice::Pos3D>(&victimsSpec);
ASSERT_TRUE((victims ? true : false));
// contaminated areas
auto radioactiveAreasSpec = ice::InformationSpecification("",
"http://vs.uni-kassel.de/TurtleBot#RadioactiveArea",
"http://vs.uni-kassel.de/TurtleBot#Area",
"http://vs.uni-kassel.de/TurtleBot#ContaminatedArea");
auto radioactiveAreas = raphael->getKnowlegeBase()->setStore->getSet<ice::GContainer>(&radioactiveAreasSpec);
ASSERT_TRUE((radioactiveAreas ? true : false));
// create landmarks
auto landmark1 = factory->makeInstance<ice::PositionOrientation3D>("http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
auto landmark2 = factory->makeInstance<ice::PositionOrientation3D>("http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
landmark1->alpha = M_PI;
landmark1->x = 100;
landmark1->y = 100;
landmark1->z = 0;
landmark2->alpha = M_PI / 2.0;
landmark2->x = 1000;
landmark2->y = 1000;
landmark2->z = 0;
landmarks->add("Landmark1", landmark1);
landmarks->add("Landmark2", landmark2);
raphael->positionLandmarks->add("Landmark1", landmark1);
raphael->positionLandmarks->add("Landmark2", landmark2);
// generate position
auto element = factory->makeInstance<ice::PositionOrientation3D>("http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
element->alpha = 0;
element->x = 100;
element->y = 200;
element->z = 0;
posLeornardo->add(element);
auto element2 = factory->makeInstance<ice::PositionOrientation3D>("http://vs.uni-kassel.de/TurtleBot#PositionOrientation3D");
element2->alpha = 0;
element2->x = 200;
element2->y = 300;
element2->z = 0;
posRaphael->add(element2);
// generate victim
auto victim = factory->makeInstance<ice::Pos3D>("http://vs.uni-kassel.de/Ice#CoordinatePositionRep");
victim->x = 1500;
victim->y = 1200;
victim->z = 0;
victims->add("victim1", victim);
// generate radioactive area
auto representation = raphael->getGContainerFactory()->getRepresentation("http://vs.uni-kassel.de/TurtleBot#ContaminatedArea");
ASSERT_TRUE((representation ? true : false));
auto pathX = representation->accessPath(POS_X);
auto pathY = representation->accessPath(POS_Y);
auto pathZ = representation->accessPath(POS_Z);
auto pathLandmark = representation->accessPath(POS_LANDMARK);
auto pathRadius = representation->accessPath(SUR_RADIUS);
ASSERT_TRUE((pathX ? true : false));
ASSERT_TRUE((pathY ? true : false));
ASSERT_TRUE((pathZ ? true : false));
ASSERT_TRUE((pathLandmark ? true : false));
ASSERT_TRUE((pathRadius ? true : false));
auto area = raphael->getGContainerFactory()->makeInstance(representation);
double x = 10;
double y = 15;
double z = 20;
double r = 25;
std::string landmark = "Landmark1";
area->set(pathX, &x);
area->set(pathY, &y);
area->set(pathZ, &z);
area->set(pathLandmark, &landmark);
area->set(pathRadius, &r);
radioactiveAreas->add("area", area);
// wait for processing
std::this_thread::sleep_for(std::chrono::milliseconds {100});
// check
ASSERT_EQ(1, posLeornardo->getSize());
ASSERT_EQ(1, posLeornardo2->getSize());
ASSERT_EQ(1, posLeornardo3->getSize());
ASSERT_EQ(1, leonardo->positionOwn->getSize());
ASSERT_EQ(3, leonardo->positionLandmarks->getSize());
ASSERT_EQ(2, leonardo->positionRobots->getSize());
ASSERT_EQ(1, leonardo->positionVictims->getSize());
ASSERT_EQ(1, leonardo->dangerZones->getSize());
ASSERT_EQ(3, raphael->positionLandmarks->getSize());
ASSERT_EQ(1, raphael->positionVictims->getSize());
// check own pos
auto pos = leonardo->positionOwn->getLast();
ASSERT_TRUE((pos ? true : false));
EXPECT_EQ(element->alpha, pos->getInformation()->alpha);
EXPECT_EQ(element->x, pos->getInformation()->x);
EXPECT_EQ(element->y, pos->getInformation()->y);
EXPECT_EQ(element->z, pos->getInformation()->z);
// check pos raphael
auto pos2 = leonardo->positionRobots->get("http://vs.uni-kassel.de/TurtleBot#Raphael");
ASSERT_TRUE((pos2 ? true : false));
// check pos in set
auto posSet = leonardo->positionRobots->get("http://vs.uni-kassel.de/TurtleBot#Leonardo");
ASSERT_TRUE((posSet ? true : false));
EXPECT_EQ("Landmark1", posSet->getInformation()->landmark);
EXPECT_NEAR(0.0, posSet->getInformation()->x, 0.00000001);
EXPECT_NEAR(-100.0, posSet->getInformation()->y, 0.00000001);
EXPECT_NEAR(0.0, posSet->getInformation()->z, 0.00000001);
// posSet = raphael->positionRobots->get("http://vs.uni-kassel.de/TurtleBot#Leonardo");
//
// ASSERT_TRUE((posSet ? true : false));
// EXPECT_EQ("Landmark1", posSet->getInformation()->landmark);
// EXPECT_NEAR(0.0, posSet->getInformation()->x, 0.00000001);
// EXPECT_NEAR(-100.0, posSet->getInformation()->y, 0.00000001);
// EXPECT_NEAR(0.0, posSet->getInformation()->z, 0.00000001);
// check victim
auto posVictim = leonardo->positionVictims->get("victim1");
ASSERT_TRUE((posVictim ? true : false));
EXPECT_EQ("Landmark2", posVictim->getInformation()->landmark);
EXPECT_NEAR(-200.0, posVictim->getInformation()->x, 0.00000001);
EXPECT_NEAR(500.0, posVictim->getInformation()->y, 0.00000001);
EXPECT_NEAR(0.0, posVictim->getInformation()->z, 0.00000001);
posVictim = raphael->positionVictims->get("victim1");
ASSERT_TRUE((posVictim ? true : false));
EXPECT_EQ("Landmark2", posVictim->getInformation()->landmark);
EXPECT_NEAR(-200.0, posVictim->getInformation()->x, 0.00000001);
EXPECT_NEAR(500.0, posVictim->getInformation()->y, 0.00000001);
EXPECT_NEAR(0.0, posVictim->getInformation()->z, 0.00000001);
auto dangerZone = leonardo->dangerZones->get("area");
ASSERT_TRUE((dangerZone ? true : false));
EXPECT_EQ("Landmark1", dangerZone->getInformation()->getValue<std::string>(pathLandmark));
EXPECT_EQ(x, dangerZone->getInformation()->getValue<double>(pathX));
EXPECT_EQ(y, dangerZone->getInformation()->getValue<double>(pathY));
EXPECT_EQ(z, dangerZone->getInformation()->getValue<double>(pathZ));
EXPECT_EQ(r, dangerZone->getInformation()->getValue<double>(pathRadius));
leonardo->cleanUp();
leonardo.reset();
raphael->cleanUp();
raphael.reset();
}
TEST(ASPRepComp, ontology2)
{
std::string path = ros::package::getPath("ice");
bool result;
auto oi = std::make_shared<ice::OntologyInterface>(path + "/java/lib/");
oi->addIRIMapper(path + "/ontology/");
ASSERT_FALSE(oi->errorOccurred());
result = oi->addOntologyIRI("http://vs.uni-kassel.de/IceTest");
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
result = oi->loadOntologies();
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
result = oi->isConsistent();
ASSERT_FALSE(oi->errorOccurred());
ASSERT_TRUE(result);
std::shared_ptr<ice::GContainerFactory> factory = std::make_shared<ice::GContainerFactory>();
factory->setOntologyInterface(oi);
factory->init();
ice::ASPTransformationGeneration asp;
asp.setOntology(oi);
asp.setGContainerFactory(factory);
asp.extractTransformations();
// Test transformation
std::string name = "autoTrans_o0_TestScope1_o0_TestTransformation1_o0_TestTransformation2";
auto trans = factory->getTransformationByName(name);
ASSERT_TRUE(trans != false);
auto repIn = factory->getRepresentation("o0_TestTransformation1");
auto repOut = factory->getRepresentation("o0_TestTransformation2");
ASSERT_TRUE(repIn != false);
ASSERT_TRUE(repOut != false);
auto inO = repIn->accessPath( {"o2_Orientation"});
auto inP = repIn->accessPath( {"o2_Position"});
auto inX = repIn->accessPath( {"o2_Position", "o2_XCoordinate"});
auto inY = repIn->accessPath( {"o2_Position", "o2_YCoordinate"});
auto inZ = repIn->accessPath( {"o2_Position", "o2_ZCoordinate"});
auto inOa = repIn->accessPath( {"o2_Orientation", "o2_Alpha"});
auto inOb = repIn->accessPath( {"o2_Orientation", "o2_Beta"});
auto inOc = repIn->accessPath( {"o2_Orientation", "o2_Gamma"});
ASSERT_TRUE(inO != nullptr);
ASSERT_TRUE(inP != nullptr);
ASSERT_TRUE(inX != nullptr);
ASSERT_TRUE(inY != nullptr);
ASSERT_TRUE(inZ != nullptr);
ASSERT_TRUE(inOa != nullptr);
ASSERT_TRUE(inOb != nullptr);
ASSERT_TRUE(inOc != nullptr);
auto outO = repIn->accessPath( {"o2_Orientation"});
auto outP = repIn->accessPath( {"o2_Position"});
auto outX = repIn->accessPath( {"o2_Position", "o2_XCoordinate"});
auto outY = repIn->accessPath( {"o2_Position", "o2_YCoordinate"});
auto outZ = repIn->accessPath( {"o2_Position", "o2_ZCoordinate"});
auto outOa = repIn->accessPath( {"o2_Orientation", "o2_Alpha"});
auto outOb = repIn->accessPath( {"o2_Orientation", "o2_Beta"});
auto outOc = repIn->accessPath( {"o2_Orientation", "o2_Gamma"});
ASSERT_TRUE(outO != nullptr);
ASSERT_TRUE(outP != nullptr);
ASSERT_TRUE(outX != nullptr);
ASSERT_TRUE(outY != nullptr);
ASSERT_TRUE(outZ != nullptr);
ASSERT_TRUE(outOa != nullptr);
ASSERT_TRUE(outOb != nullptr);
ASSERT_TRUE(outOc != nullptr);
auto in = factory->makeInstance(repIn);
double x = 4.44;
double y = 5.55;
double z = 6.66;
double a = 14.44;
double b = 15.55;
double c = 16.66;
in->set(inX, &x);
in->set(inY, &y);
in->set(inZ, &z);
in->set(inOa, &a);
in->set(inOb, &b);
in->set(inOc, &c);
auto out = trans->transform(&in);
EXPECT_EQ(out->getValue<double>(outX), x);
EXPECT_EQ(out->getValue<double>(outY), y);
EXPECT_EQ(out->getValue<double>(outZ), z);
EXPECT_EQ(out->getValue<double>(outOa), a);
EXPECT_EQ(out->getValue<double>(outOb), b);
EXPECT_EQ(out->getValue<double>(outOc), c);
auto aspStr = trans->getASPRepreentation("system");
for (auto s : *aspStr)
{
if (s == "iro(system,autoTrans_o0_TestScope1_o0_TestTransformation1_o0_TestTransformation2,any,none).")
{
// fine
}
else if (s
== "output(system,autoTrans_o0_TestScope1_o0_TestTransformation1_o0_TestTransformation2,o0_TestScope1,o0_TestTransformation1,none).")
{
// fine
}
else if (s
== "input(system,autoTrans_o0_TestScope1_o0_TestTransformation1_o0_TestTransformation2,o0_TestScope1,o0_TestTransformation1,none,1,1) :- iro(system,autoTrans_o0_TestScope1_o0_TestTransformation1_o0_TestTransformation2,any,none).")
{
// fine
}
else
{
ASSERT_ANY_THROW("Unknown string " + s);
}
}
}
