diff --git a/generate.py b/generate.py
index d9b901acd44c494e7ceb3b48266c4ac2cea01d06..958aa3cf972ddaa660bfd42d39d3a233c931d8b7 100755
--- a/generate.py
+++ b/generate.py
@@ -8,7 +8,7 @@ class select_query:
self.constraints = constraints
self.restrictions = restrictions
def to_scql(self):
- q = "SELECT " + " ".join(map(" AS ".join, self.variables))
+ q = "SELECT " + ", ".join(map(" AS ".join, self.variables))
if len(self.constraints) > 0:
q += " WHERE " + " AND ".join(map(" ".join, self.constraints))
return q + " " + " ".join(self.restrictions)
@@ -57,6 +57,30 @@ def generate_scql(queries):
print(s)
print(q.to_scql())
+def validate_scql(queries):
+ import requests
+ from termcolor import colored
+ all_success = True
+ results = []
+ for s,q in queries:
+ payload = {'query': q.to_scql()}
+ r = requests.post('http://localhost:8181/api/get_model', data=payload).json()
+ # print(r)
+ if not r['model']['parse']:
+ print(f"Failed to parse: '{colored(q.to_scql(), 'blue')}' with error '{colored(r['model']['message'], 'red')}'")
+ else:
+ for m in r["model"]["models"]:
+ if m['success']:
+ results.append([q.to_scql(), m["model"]])
+ else:
+ # elif m['message'] != 'Unimplemented QueryResultModelVisitor PerformQuery':
+ print(f"Failed to model: '{colored(q.to_scql(), 'blue')}' with error '{colored(m['message'], 'red')}'")
+ all_success = False
+ if all_success:
+ for v in results:
+ print(f"Query '{colored(v[0], 'blue')}' has model '{colored(v[1], 'green')}'")
+
+
prefix_to_uri = {
"ex": "http://example.org/",
"scql_actions": "http://askco.re/scql/actions#",
@@ -67,7 +91,7 @@ prefix_to_uri = {
def mu(curie):
# split curie accordin to :
x = curie.split(":", 1)
- return prefix_to_uri[x[0]] + x[1]
+ return "<" + prefix_to_uri[x[0]] + x[1] + ">"
desire_perf = ["I would like", "I am interested in", "I want to see", "He would like", "He is interested in"]
@@ -80,7 +104,7 @@ queries = []
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"]], []))
+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
@@ -97,10 +121,10 @@ properties = [ ["color", mu("ex:color"), ["red", mu("ex:red")], ["green", mu("ex
["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"]], []))
+ 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]]], []))
+ 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 #########
@@ -115,25 +139,26 @@ bring_boxes_perf = ["I would like you to bring a box with", "Could you bring a b
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]]], []))
+ queries = add_query(queries, [bring_boxes_perf, bc[0] , bring_boxes_dest], perform_query(mu("scql_actions:bring_to"), [mu("ex:box"), "box"], [mu("scql_types:geo_pose"), "pose"], [], [["pose.klass", "=", mu("ex:location_of_interest") ], ["box", mu("ex:contains"), bc[1]]], []))
# Bring boxes to human in needs
-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_sick_injured_statuses = [[["all sick humans", "all sick persons", "all humans with disease"], mu("ex:sick")],[["all injured humans", "all humans with injury"], mu("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")]) + "]"
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]]], []))
+ queries = add_query(queries, [bring_boxes_perf, bc[0] , bbd[0]], perform_query(mu("scql_actions:bring_to"), [mu("ex:box"), "box"], ["human.pose"], [[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", mu("ex:human")], ["human.status", "=", bbd[1]], ["box", mu("ex:contains"), bc[1]]], []))
- 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]]], []))
+ queries = add_query(queries, [bring_boxes_perf, bc[0], human_in_need_statuses], perform_query(mu("scql_actions:bring_to"), [mu("ex:box"), "box"], ["human.pose"], [[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", mu("ex:human")], ["human.status", "in", all_human_bad_statuses], ["box", mu("ex:contains"), bc[1]]], []))
# 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]]], []))
+ queries = add_query(queries, [desire_perf, bbd[0]], select_query([[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", mu("ex:human")], ["human.status", "=", bbd[1]]], []))
-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]], []))
+queries = add_query(queries, [desire_perf, human_in_need_statuses], select_query([[mu("scql_types:salient_point"), "human"]], [["human.klass", "=", mu("ex:human")], ["human.status", "in", all_human_bad_statuses]], []))
generate_scql(queries)
+# validate_scql(queries)