def _wm_get_cb(self, msg):
with self._times:
to_ret = srvs.WmGetResponse()
if msg.action == msg.GET:
to_ret.elements.append(
utils.element2msg(
self._get_context(msg.context).get_element(
msg.element.id)))
elif msg.action == msg.GET_TEMPLATE:
to_ret.elements.append(
utils.element2msg(
self._get_context(msg.context).get_template_individual(
msg.element.label)))
elif msg.action == msg.GET_RECURSIVE:
for _, e in self._get_context(msg.context).get_recursive(
msg.element.id, msg.relation_filter,
msg.type_filter).items():
to_ret.elements.append(utils.element2msg(e))
elif msg.action == msg.RESOLVE:
for e in self._get_context(msg.context).resolve_elements(
utils.msg2element(msg.element)):
to_ret.elements.append(utils.element2msg(e))
output = ""
einput = utils.msg2element(msg.element)
for e in to_ret.elements:
output += "{} ".format(e.id)
if self._verbose:
log.info(
"[WmGet]",
"Done {} [{}]. Answer: {}. Time: {:0.3f} secs".format(
msg.action, einput, output, self._times.get_last()))
to_ret.snapshot_id = self._curr_snapshot.hex
return to_ret
def _wm_modify_cb(self, msg):
to_ret = srvs.WmModifyResponse()
with self._times:
if msg.action == msg.ADD:
for e in msg.elements:
updated_e = self._get_context(msg.context).add_element(
utils.msg2element(e), msg.author)
to_ret.elements.append(utils.element2msg(updated_e))
self._publish_change(msg.author,
"add",
elements=to_ret.elements,
context_id=msg.context)
elif msg.action == msg.UPDATE:
for e in msg.elements:
self._get_context(msg.context).update_element(
utils.msg2element(e), msg.author)
er = utils.element2msg(
self._get_context(msg.context).get_element(e.id))
to_ret.elements.append(er)
self._publish_change(msg.author,
"update",
elements=to_ret.elements,
context_id=msg.context)
elif msg.action == msg.UPDATE_PROPERTIES:
for e in msg.elements:
self._get_context(msg.context).update_properties(
utils.msg2element(e), msg.author,
self._ontology.get_reasoner(msg.type_filter), False)
er = utils.element2msg(
self._get_context(msg.context).get_element(e.id))
to_ret.elements.append(er)
self._publish_change(msg.author,
"update",
elements=to_ret.elements,
context_id=msg.context)
elif msg.action == msg.REMOVE:
for e in msg.elements:
self._get_context(msg.context).remove_element(
utils.msg2element(e), msg.author)
to_ret.elements = msg.elements
self._publish_change(msg.author,
"remove",
elements=msg.elements,
context_id=msg.context)
elif msg.action == msg.REMOVE_RECURSIVE:
for e in msg.elements:
self._get_context(msg.context).remove_recursive(
utils.msg2element(e), msg.author, msg.relation_filter,
msg.type_filter)
to_ret.elements = msg.elements
self._publish_change(msg.author,
"remove_recursive",
elements=msg.elements,
context_id=msg.context)
if self._verbose:
log.info(
"[WmModify]", "{} {} {}. Time: {:0.3f} secs".format(
msg.author, msg.action, [e.id for e in to_ret.elements],
self._times.get_last()))
return to_ret
def remove_element(self,
e,
recursive=True,
rel_filter=":sceneProperty",
type_filter="",
context_id='scene'):
"""
@brief Removes an element from the scene. e can be an Element or an id
"""
#print "{}".format(eid)
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.type_filter = type_filter
msg.relation_filter = rel_filter
if isinstance(e, Element):
msg.elements.append(utils.element2msg(e))
elif isinstance(e, str):
e = Element("", "", e)
msg.elements.append(utils.element2msg(e))
if recursive:
msg.action = msg.REMOVE_RECURSIVE
else:
msg.action = msg.REMOVE
res = self._call(self._modify, msg)
if (res):
e._id = ""
return 1
return -1
def remove_element(self, e, recursive=True, rel_filter="skiros:sceneProperty", type_filter="", context_id='scene'):
"""
@brief Removes an element from the scene. e can be an
Element or an id
@param e (Element/string) Element or id of element to remove
@param recursive The recursive, if True, remove all children matching the rel_filter
@param rel_filter The relative filter
@param type_filter The type filter
@param context_id (string)Ontology context identifier
@return (int) 1 on success, -1 if an error occurs
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.type_filter = type_filter
msg.relation_filter = rel_filter
if isinstance(e, Element):
msg.elements.append(utils.element2msg(e))
elif isinstance(e, str):
e = Element("", "", e)
msg.elements.append(utils.element2msg(e))
if recursive:
msg.action = msg.REMOVE_RECURSIVE
else:
msg.action = msg.REMOVE
res = self._call(self._modify, msg)
if(res):
e._id = ""
return 1
return -1
def _wm_change_cb(self, author, action, element=None, relation=None):
if element is not None:
self._publish_change(author, action, [utils.element2msg(element)])
else:
self._publish_change(author,
action,
relation=utils.relation2msg(relation))
def resolve_elements(self, e, context_id='scene'):
msg = srvs.WmGetRequest()
msg.context = context_id
msg.element = utils.element2msg(e)
msg.action = msg.RESOLVE
res = self._call(self._get, msg)
if (res):
return [utils.msg2element(x) for x in res.elements]
def update_element(self, e, context_id='scene'):
"""
@brief Update properties and relations of an element
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.elements.append(utils.element2msg(e))
msg.action = msg.UPDATE
res = self._call(self._modify, msg)
if res:
return e.id
return -1
def update_element_properties(self, e, reasoner="", context_id='scene'):
"""
@brief Update the properties of an element (ignores the relations)
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.elements.append(utils.element2msg(e))
msg.action = msg.UPDATE_PROPERTIES
msg.type_filter = reasoner
res = self._call(self._modify, msg)
if (res):
return e.id
return -1
def add_elements(self, es, context_id='scene'):
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
for e in es:
msg.elements.append(utils.element2msg(e))
msg.action = msg.ADD
res = self._call(self._modify, msg)
to_ret = list()
if res:
for old, new in zip(es, res.elements):
to_ret.append(utils.msg2element(new))
old._id = new.id
self._resolve_local_relations(old)
return to_ret
def resolve_elements(self, e, context_id='scene'):
"""
@brief Find all elements matching the input *type, label
and properties)
@param e An element to match
@param context_id (string)Ontology context identifier
@return list(Element) List of matches
"""
msg = srvs.WmGetRequest()
msg.context = context_id
msg.element = utils.element2msg(e)
msg.action = msg.RESOLVE
res = self._call(self._get, msg)
if (res):
return [utils.msg2element(x) for x in res.elements]
def update_element(self, e, context_id='scene'):
"""
@brief Update properties and relations of an element
@param e (Element) to update
@param context_id (string)Ontology context identifier
@return (int) id of the element, or -1 if an error occurs
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.elements.append(utils.element2msg(e))
msg.action = msg.UPDATE
res = self._call(self._modify, msg)
if res:
return e.id
return -1
def update_element_properties(self, e, reasoner="", context_id='scene'):
"""
@brief Update the properties of an element, ignoring the
relations. More efficient than full update
@param e (Element) to update
@param reasoner (string) If specified, only updates
properties related to the reasoner
@param context_id (string)Ontology context identifier
@return (int) id of the element, or -1 if an error occurs
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
msg.elements.append(utils.element2msg(e))
msg.action = msg.UPDATE_PROPERTIES
msg.type_filter = reasoner
res = self._call(self._modify, msg)
if (res):
return e.id
return -1
def add_elements(self, es, context_id='scene'):
"""
@brief Add elements to the scene. The id is updated with
the one assigned from the world model
@param es list(Elements) without id
@param context_id (string)Ontology context identifier
@return list(Elements) with id
"""
msg = srvs.WmModifyRequest()
msg.context = context_id
msg.author = self._author_name + self._debug_info()
for e in es:
msg.elements.append(utils.element2msg(e))
msg.action = msg.ADD
res = self._call(self._modify, msg)
to_ret = list()
if res:
for old, new in zip(es, res.elements):
to_ret.append(utils.msg2element(new))
old._id = new.id
self._resolve_local_relations(old)
return to_ret
