diff --git a/extensions/kDBRobotics/Agents.cpp b/extensions/kDBRobotics/Agents.cpp
index bd017583fac6da7f0e397c5c5814f13d88bd2af9..cbdfbc6cf9880c7ae6f1b11fb30efbcdbe811a7d 100644
--- a/extensions/kDBRobotics/Agents.cpp
+++ b/extensions/kDBRobotics/Agents.cpp
@@ -44,7 +44,7 @@ struct Agents::Private : public QSharedData
typedef QHash<knowCore::Uri, QSharedPointer<Stream::Private::Definition>> Uri2StreamDefinition;
QSharedPointer<Agent::Private::Definition> createAgentDefinition(const knowCore::Uri& _agentUri, const knowCore::Uri& _typeUri, const QString& _name);
- QSharedPointer<Stream::Private::Definition> createStreamDefinition(const knowCore::Uri& _streamUri, const knowCore::Uri& _typeUri, const QString& _identifier);
+ QSharedPointer<Stream::Private::Definition> createStreamDefinition(const knowCore::Uri& _streamUri, const knowCore::Uri& _typeUri, const knowCore::Uri& _datatypeUri, const QString& _identifier);
struct Static
{
@@ -74,11 +74,12 @@ QSharedPointer<Agent::Private::Definition> Agents::Private::createAgentDefinitio
return ds_def;
}
-QSharedPointer<Stream::Private::Definition> Agents::Private::createStreamDefinition(const knowCore::Uri& _streamUri, const knowCore::Uri& _typeUri, const QString& _identifier)
+QSharedPointer<Stream::Private::Definition> Agents::Private::createStreamDefinition(const knowCore::Uri& _streamUri, const knowCore::Uri& _typeUri, const knowCore::Uri& _datatypeUri, const QString& _identifier)
{
QSharedPointer<Stream::Private::Definition> ds_def(new Stream::Private::Definition);
ds_def->identifier = _identifier;
- ds_def->datatype = _typeUri;
+ ds_def->contentType = _typeUri;
+ ds_def->datatype = _datatypeUri;
ds_def->uri = _streamUri;
ds_def->serverUuid = connection.serverUuid();
ds_def->triplestores = definition->uri;
@@ -339,7 +340,7 @@ knowCore::ReturnValue<Stream> Agents::stream(const knowCore::Uri& _streamUri) co
} else if(r.data.size() > 1) {
return kCrvError("Got more than one stream '{}' in database.", _streamUri);
} else {
- ds_def = d->createStreamDefinition(_streamUri, r.data.first().datatype(), r.data.first().identifier());
+ ds_def = d->createStreamDefinition(_streamUri, r.data.first().contenttype(), r.data.first().datatype(), r.data.first().identifier());
}
} else {
return kCrvLogError("Error while querying for agent '{}': {}", _streamUri, r.errorMessage);
@@ -440,17 +441,17 @@ knowCore::ReturnValue<QList<Agent>> Agents::agents(const QList<QPair<knowCore::U
using foaf = knowCore::Uris::foaf;
SB::Variable uri_variable("?uri");
- SB::Variable geometry_variable("?geometry");
+ SB::Variable name_variable("?name");
SB::Variable type_variable("?type");
QHash<QString, QList<SA::NodeCSP>> path2node;
path2node[askcore_agent::agent_uri].append(uri_variable);
- path2node[foaf::name].append(geometry_variable);
+ path2node[foaf::name].append(name_variable);
path2node[askcore_agent::agent_type].append(type_variable);
SB::TriplesList triples_pattern;
triples_pattern.append(uri_variable, knowCore::Uris::rdf::a, askcore_agent::agent);
- triples_pattern.append(uri_variable, foaf::name, geometry_variable);
+ triples_pattern.append(uri_variable, foaf::name, name_variable);
triples_pattern.append(uri_variable, askcore_agent::agent_type, type_variable);
@@ -485,11 +486,12 @@ knowCore::ReturnValue<QList<Agent>> Agents::agents(const QList<QPair<knowCore::U
SB::SelectQuery builder;
builder.modifier(SA::SelectModifier::Distinct)
- .variables(uri_variable, geometry_variable, type_variable )
+ .variables(uri_variable, name_variable, type_variable )
.datasets(SB::Dataset().uri(d->definition->uri))
.where(SB::GroupGraphPattern().graphPatterns(triples_pattern).filters(filters));
auto const& [queryString, queryBindings] = builder.toQueryString();
+ KNOWCORE_LOG_DEBUG_VN(queryString, queryBindings);
knowDBC::Query q = d->connection.createSPARQLQuery({}, queryString);
q.bindValues(queryBindings);
@@ -512,7 +514,7 @@ knowCore::ReturnValue<QList<Agent>> Agents::agents(const QList<QPair<knowCore::U
ds_def = QSharedPointer<Agent::Private::Definition>(new Agent::Private::Definition);
knowCore::Value nameValue = r.value(i, "name");
- if(knowCore::ValueIs<QString> name_string = nameValue)
+ if(knowCore::ValueCast<QString> name_string = nameValue)
{
ds_def->name = name_string.value();
} else {
@@ -553,6 +555,7 @@ knowCore::ReturnValue<QList<Agent>> Agents::agents(const QList<QPair<knowCore::U
ds.d = new Agent::Private;
ds.d->definition = ds_def;
ds.d->connection = d->connection;
+ KNOWCORE_RETURN_VALUE_TRY_ASSIGN(ds.d->agents, get(d->connection, ds_def->triplestores));
dss.append(ds);
}
diff --git a/extensions/kDBRobotics/CMakeLists.txt b/extensions/kDBRobotics/CMakeLists.txt
index 5ce6d863583bfba390a27d5c0c410ff949b65e3a..dfb0fe9fb0890ce88ecb8dd1f43cfa57051eb356 100644
--- a/extensions/kDBRobotics/CMakeLists.txt
+++ b/extensions/kDBRobotics/CMakeLists.txt
@@ -36,8 +36,11 @@ install( FILES
${CMAKE_CURRENT_BINARY_DIR}/Event.h
${CMAKE_CURRENT_BINARY_DIR}/FrameTransformation.h
${CMAKE_CURRENT_BINARY_DIR}/Sql.h
+ Agent.h
+ Agents.h
Forward.h
FramePose.h
+ Stream.h
TypesDefinitions.h
Initialise.h
Test.h
diff --git a/extensions/kDBRobotics/data/agents_queries.ttl b/extensions/kDBRobotics/data/agents_queries.ttl
index 37db64dcbb792023745fb739aee0df00a376be6d..8cf6a2126cacb87909046f6fd93bb01f1d9ce214 100644
--- a/extensions/kDBRobotics/data/agents_queries.ttl
+++ b/extensions/kDBRobotics/data/agents_queries.ttl
@@ -19,7 +19,7 @@ BEGIN <http://askco.re/scripts#pl/sparql>
{
INSERT DATA { GRAPH %graph {
%agent_uri a askcore_agent:agent ;
- askcore_agent:type %type ;
+ askcore_agent:agent_type %type ;
foaf:name %name .
} }
}
@@ -38,7 +38,7 @@ PREFIX foaf: <http://xmlns.com/foaf/0.1/>
SELECT ?type ?name FROM %graph WHERE {
%agent_uri a askcore_agent:agent ;
- askcore_agent:type ?type ;
+ askcore_agent:agent_type ?type ;
foaf:name ?name .
}""" ;
askcore_queries:binding [ foaf:name "graph" ; xsi:type xsd:anyURI ; dc:description "URI for the graph where to get all the agents." ] ;
diff --git a/extensions/kDBRobotics/tests/TestAgents.cpp b/extensions/kDBRobotics/tests/TestAgents.cpp
index 6f617cf26c7b37b8b33185cae43fdf344619fdde..8b99c9b076a804d3dda78081670b9198efae75e3 100644
--- a/extensions/kDBRobotics/tests/TestAgents.cpp
+++ b/extensions/kDBRobotics/tests/TestAgents.cpp
@@ -75,10 +75,11 @@ void TestAgents::testCreation()
KNOWCORE_TEST_VERIFY_FAILURE(agnss2.agent("agnt.uav1"_kCu));
KNOWCORE_TEST_VERIFY_FAILURE(agnss2.createAgent(askcore_agent::uav, "uav1", "agnt.uav1"_kCu));
- kDBRobotics::Stream stream1 = KNOWCORE_TEST_VERIFY_SUCCESS(agnss1.createStream("stream_type"_kCu, "/stream", "agnt.stream1"_kCu));
+ kDBRobotics::Stream stream1 = KNOWCORE_TEST_VERIFY_SUCCESS(agnss1.createStream("stream_type"_kCu, "/stream", "data_type"_kCu, "agnt.stream1"_kCu));
QVERIFY(stream1.isValid());
- QCOMPARE(stream1.datatype(), "stream_type"_kCu);
+ QCOMPARE(stream1.contentType(), "stream_type"_kCu);
QCOMPARE(stream1.identifier(), "/stream");
+ QCOMPARE(stream1.datatype(), "data_type"_kCu);
QCOMPARE(stream1.uri(), "agnt.stream1"_kCu);
KNOWCORE_TEST_VERIFY_FAILURE(agnss2.agent("agnt.stream1"_kCu));
@@ -103,8 +104,9 @@ void TestAgents::testCreation()
stream1 = KNOWCORE_TEST_VERIFY_SUCCESS(agnss1.createStream("stream_type"_kCu, "/stream", "agnt.stream1"_kCu));
QVERIFY(stream1.isValid());
- QCOMPARE(stream1.datatype(), "stream_type"_kCu);
+ QCOMPARE(stream1.contentType(), "stream_type"_kCu);
QCOMPARE(stream1.identifier(), "/stream");
+ QCOMPARE(stream1.datatype(), "data_type"_kCu);
QCOMPARE(stream1.uri(), "agnt.stream1"_kCu);
agent1_streams = KNOWCORE_TEST_VERIFY_SUCCESS(agent1.streams());