add many more queries

generate.py

@@ -14,10 +14,11 @@ class select_query:
     return q + " " + " ".join(self.restrictions)
 
 class perform_query:
-  def __init__(self, action, what, destination, constraints, restrictions):
+  def __init__(self, action, what, destination, withs, constraints, restrictions):
     self.action       = action
     self.what         = what
     self.destination  = destination
+    self.withs        = withs
     self.constraints  = constraints
     self.restrictions = restrictions
   def to_scql(self):
@@ -28,17 +29,25 @@ class perform_query:
         q += self.destination
       else:
         q += " AS ".join(self.destination)
+    if len(self.withs) > 0:
+      q += " WITH " + ", ".join(map(" AS ".join, self.withs))
     if len(self.constraints) > 0:
       q += " WHERE " + " AND ".join(map(" ".join, self.constraints))
     return q + " " + " ".join(self.restrictions)
     
-    
-
-def add_query(queries, sentences, query_def):
+def expand_sentence_bocks(block):
+  if(any(filter(lambda x: isinstance(x, list), block))):
+    if(any(filter(lambda x: not isinstance(x, list), block))):
+      raise exeption("All elements in the list should be an array")
+    return map(" ".join, itertools.product(*block))
+  return block
+
+def add_query(queries, sentence_fragments, query_def):
   # add a query to queries
-  # - sentences is an array of sentence segment that can be collected together
+  # - sentence_fragments is an array of sentence segment that can be collected together
   # - query_def definition of a query
-  for s in map(" ".join, itertools.product(*sentences)):
+  sentences = map(" ".join, itertools.product(*map(expand_sentence_bocks, sentence_fragments)))
+  for s in sentences:
     queries.append([s, query_def])
   return queries
   
@@ -64,21 +73,67 @@ desire_perf = ["I would like", "I am interested in", "I want to see", "He would
 
 queries = []
 
-queries = add_query(queries, [desire_perf, ["a point cloud of the rescue area"]], select_query([[mu("geo:Geometry"), "area"],[mu("scql_types:lidar_frame"), "scan"]], [["scan.pose", "inside", "area"], ["area.uri", "=", mu("ex:rescue_area")]], []))
+######### Selects #########
+
+### 3d models
+
+queries = add_query(queries, [desire_perf, ["a point cloud of the rescue area"]], select_query([[mu("geo:Geometry"), "area"], [mu("scql_types:point_cloud"), "scan"]], [["scan.pose", "inside", "area"], ["area.uri", "=", mu("ex:rescue_area")]], []))
+
+queries = add_query(queries, [desire_perf, ["a point cloud", "a 3d model"]], select_query([[mu("geo:Geometry"), "area"], [mu("scql_types:point_cloud"), "scan"]], [["area.klass", "=", mu("ex:area_of_interest")], ["scan.pose", "inside", "area"]], []))
+queries = add_query(queries, [desire_perf, [["a"], ["high resolution", "very detailed", "high quality"], ["point cloud", "3d model"]]], select_query([[mu("scql_types:point_cloud"), "scan"]], [["scan.pose", "inside", "area"], ["scan.density", ">", "100 point/m^2"]], []))
+
+### Images/Models
+
+images_objects = [[["of all humans", "of all victims", "of all persons"], mu("ex:human")],
+                  [["of all cars", "of all automobiles"], mu("ex:automobiles")],
+                  [["of all vehicules"], mu("ex:vehicule")],
+                  [["of all buildings"], mu("ex:building")],
+                  [["of all houses"], mu("ex:house")],
+                  [["of all shops"], mu("ex:shop")],
+                  [["of all crossings"], mu("ex:crossing")]
+                  ]
+
+properties = [ ["color", mu("ex:color"), ["red", mu("ex:red")], ["green", mu("ex:green")], ["blue", mu("ex:blue")], ["orange", mu("ex:orange")]],
+               ["size", mu("ex:size"), ["big", mu("ex:big")], ["medium", mu("ex:medium")], ["small", mu("ex:small")]] ]
+
+for io in images_objects:
+  queries = add_query(queries, [desire_perf, ["a image", "a picture"], io[0]], select_query([[mu("geo:Geometry"), "area"], [mu("scql_types:salient_point"), "sp"], [mu("scql_types:image"), "image"]], [["area.klass", "=", mu("ex:area_of_interest")], ["sp.klass", "=", io[1]], ["sp.pose", "inside", "area"], ["distance(image.pose, sp.pose)", "<", "1m"]], []))
+  for prop in properties:
+    for value in prop[2]:
+      queries = add_query(queries, [desire_perf, ["a image", "a picture"], io[0], ["with a " + value[0] + " " + prop[0]]], select_query([[mu("geo:Geometry"), "area"], [mu("scql_types:salient_point"), "sp"], [mu("scql_types:image"), "image"]], [["area.klass", "=", mu("ex:area_of_interest")], ["sp.klass", "=", io[1]], ["sp.pose", "inside", "area"], ["distance(image.pose, sp.pose)", "<", "1m"], ["sp." + prop[1], "=", value[1]]], []))
+
+
+######### Performs #########
+
+### Bring boxes to location
+
+# TODO the following queries should probably include an area restriction as well
+
+box_contents = [[["medication", "medicines"], mu("ex:medication")], [["food", "a meal"], mu("ex:food")], [["camping gear", "a tent", "shelter"], mu("ex:camping_gear")]]
+
+bring_boxes_perf = ["I would like you to bring a box with", "Could you bring a box with", "I need you to transport a box which contains", "I need you to deliver a box with"]
+bring_boxes_dest = ["to specific coordinates", "to this location", "near the goal"]
+
+for bc in box_contents:
+  queries = add_query(queries, [bring_boxes_perf, bc[0] , bring_boxes_dest], perform_query(mu("scql_actions:bring_to"), ["ex:box", "box"], ["scql_types:geo_pose", "pose"], [], [["pose.klass", "=", "ex:location_of_interest" ], ["box", mu("ex:contains"), bc[1]]], []))
+
+# Bring boxes to human in needs
 
-queries = add_query(queries, [desire_perf, ["a point cloud"]], select_query([[mu("scql_types:lidar_frame>"), "scan"]], [["scan.pose", "inside", "%area"]], []))
+human_sick_injured_statuses = [[["all sick humans", "all sick persons", "all humans with disease"], "ex:sick"],[["all injured humans", "all humans with injury"], "ex:injured"]]
+human_in_need_statuses = ["all humans in need", "all persons in need", "all persons that need to be rescued"]
+all_human_bad_statuses = "[" + ", ".join([mu("ex:injured"), mu("ex:sick"), mu("ex:dying")]) + "]"
 
-#PERFORM scql_actions:bring_to askcore_things:box AS box TO "POINT(10, 10)"^^geo:wktLiteral WHERE box <askcore_things:contains> <askcore_things:medication>
-queries = add_query(queries, [["I would like you to bring a box to sepcific coordinates"]], perform_query(mu("scql_actions:bring_to"), ["ex:box", "box"], f'"POINT(10, 10)"^^{mu("geo:wktLiteral")}', [["box", mu("ex:contains"), mu("ex:medication")]], []))
+for bc in box_contents:
+  for bbd in human_sick_injured_statuses:
+    queries = add_query(queries, [bring_boxes_perf, bc[0] , bbd[0]], perform_query(mu("scql_actions:bring_to"), ["ex:box", "box"], ["human.pose"], [["scql_types:salient_point", "human"]], [["human.klass", "=", "ex:human"], ["human.status",  "=", bbd[1]], ["box", mu("ex:contains"), bc[1]]], []))
 
-#PERFORM scql_actions:bring_to scql_types:agent_pose AS source TO scql_types:agent_pose AS target WHERE target.agent = <agent_1> AND source.agent = <agent_2>
-#PERFORM scql_actions:move_to TO scql_types:salient_point AS point WHERE point.pose INSIDE %area
-#PERFORM scql_actions:move_to TO scql_types:agent_pose AS target WHERE target.agent = <agent_1>
-#PERFORM scql_actions:explore scql_types:lidar_frame IN %area USING scql:dataset = %dataset_uri
+  queries = add_query(queries, [bring_boxes_perf, bc[0], human_in_need_statuses], perform_query(mu("scql_actions:bring_to"), ["ex:box", "box"], ["human.pose"], [["scql_types:salient_point", "human"]], [["human.klass", "=", mu("ex:human")], ["human.status",  "in", all_human_bad_statuses], ["box", mu("ex:contains"), bc[1]]], []))
 
-#SELECT scql_types:image img, scql_types:salient_point sp WHERE distance(img.pose, sp.pose) < 1 AND sp.type = ex:human
+# SELECT variant of "Bring boxes to human in needs"
+for bbd in human_sick_injured_statuses:
+  queries = add_query(queries, [desire_perf, bbd[0]], select_query([[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", "ex:human"], ["human.status",  "=", bbd[1]]], []))
 
-#PERFORM scql_actions:bring_to askcore_things:box AS box TO scql_types:salient_point sp WHERE sp.type = ex:human AND sp.pose inside %area AND box <askcore_things:contains> <askcore_things:medication>
+queries = add_query(queries, [desire_perf, human_in_need_statuses], select_query([[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", "ex:human"], ["human.status",  "in", all_human_bad_statuses]], []))
 
 
 generate_scql(queries)