InterfaceUtils.cpp

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/*
 * Copyright (c) 2023, Sascha Jongebloed
 * All rights reserved.
 *
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#include <unordered_map>
#include <boost/any.hpp>
#include <boost/property_tree/json_parser.hpp>
#include "knowrob/integration/InterfaceUtils.h"
#include "knowrob/formulas/ModalFormula.h"
#include "knowrob/semweb/Triple.h"
#include "knowrob/queries/QueryTree.h"
#include "knowrob/queries/QueryError.h"
#include "knowrob/KnowledgeBase.h"
 
 
using namespace knowrob;
 
// enum for epistemicOperator
enum EpistemicOperator {
    KNOWLEDGE = 0,
    BELIEF = 1
};
 
// enum for temporalOperator
enum TemporalOperator {
    CURRENTLY = 0,
    ALL_PAST = 1,
    SOME_PAST = 2
};
 
boost::property_tree::ptree InterfaceUtils::loadSettings() {
    // Check for settings file
    std::string config_path = "default.json";
    if (std::getenv("KNOWROB_SETTINGS")) {
        config_path = std::getenv("KNOWROB_SETTINGS");
    }
 
    // read the settings
    boost::property_tree::ptree config;
    boost::property_tree::read_json(
            config_path,
            config);
 
    return config;
 
}
 
bool InterfaceUtils::assertStatements(const KnowledgeBasePtr &kb_, const std::vector<FormulaPtr> &args) {
    std::vector<TriplePtr> data(args.size());
    std::vector<TriplePatternPtr> buf(args.size());
    uint32_t dataIndex = 0;
 
    for (auto &phi: args) {
        const QueryTree qt(phi);
        if (qt.numPaths() > 1) {
            throw QueryError("Disjunctions are not allowed in assertions. "
                             "Appears in statement {}.", *phi);
        } else if (qt.numPaths() == 0) {
            throw QueryError("Invalid assertion: '{}'", *phi);
        }
        for (auto &psi: qt.begin()->nodes()) {
            switch (psi->type()) {
                case knowrob::FormulaType::PREDICATE:
                    buf[dataIndex] = std::make_shared<TriplePattern>(
                            std::static_pointer_cast<Predicate>(psi), false);
                    data[dataIndex].ptr = new TripleCopy();
                    data[dataIndex].owned = true;
                    buf[dataIndex]->instantiateInto(*data[dataIndex].ptr);
                    dataIndex += 1;
                    break;
                default:
                    throw QueryError("Invalid assertion: '{}'", *phi);
            }
        }
    }
    if (kb_->insertAll(data)) {
        std::cout << "success, " << dataIndex << " statement(s) were asserted." << "\n";
        return true;
    } else {
        std::cout << "assertion failed." << "\n";
        return false;
    }
}
 
FormulaPtr
InterfaceUtils::applyModality(const std::unordered_map<std::string, boost::any> &options,
                              FormulaPtr phi) {
    FormulaPtr mFormula = std::move(phi);
 
    // Retrieve epistemicOperator and check if it is "BELIEF"
    auto epistemicOperator = boost::any_cast<int>(options.at("epistemicOperator"));
    if (epistemicOperator == EpistemicOperator::BELIEF) {
        // Retrieve aboutAgentIRI and confidence
        auto aboutAgentIRI = boost::any_cast<std::string>(options.at("aboutAgentIRI"));
        auto confidence = boost::any_cast<double>(options.at("confidence"));
        if (!aboutAgentIRI.empty()) {
            if (confidence != 1.0) {
                mFormula = std::make_shared<ModalFormula>(
                        modals::B(aboutAgentIRI, confidence), mFormula);
            } else {
                mFormula = std::make_shared<ModalFormula>(
                        modals::B(aboutAgentIRI), mFormula);
            }
        }
    } else if (epistemicOperator == EpistemicOperator::KNOWLEDGE) {
        // Retrieve aboutAgentIRI
        auto aboutAgentIRI = boost::any_cast<std::string>(options.at("aboutAgentIRI"));
        if (!aboutAgentIRI.empty()) {
            mFormula = std::make_shared<ModalFormula>(
                    modals::K(aboutAgentIRI), mFormula);
        }
    }
    // Retrieve temporalOperator
    auto temporalOperator = boost::any_cast<int>(options.at("temporalOperator"));
 
    // Retrieve minPastTimestamp and maxPastTimestamp
    auto minPastTimestamp = boost::any_cast<double>(options.at("minPastTimestamp"));
    auto maxPastTimestamp = boost::any_cast<double>(options.at("maxPastTimestamp"));
 
    auto minPastTimePoint =
            minPastTimestamp != -1 ? std::optional<TimePoint>(knowrob::time::fromSeconds(minPastTimestamp))
                                   : std::nullopt;
    auto maxPastTimePoint =
            maxPastTimestamp != -1 ? std::optional<TimePoint>(knowrob::time::fromSeconds(maxPastTimestamp))
                                   : std::nullopt;
 
    if (temporalOperator == TemporalOperator::SOME_PAST) {
        if (minPastTimestamp != -1 || maxPastTimestamp != -1) {
            if (minPastTimestamp == -1) {
                mFormula = std::make_shared<ModalFormula>(
                        modals::P(TimeInterval(std::nullopt,
                                               maxPastTimePoint)), mFormula);
            } else if (maxPastTimestamp == -1) {
                mFormula = std::make_shared<ModalFormula>(
                        modals::P(TimeInterval(minPastTimePoint,
                                               std::nullopt)), mFormula);
            } else {
                mFormula = std::make_shared<ModalFormula>(
                        modals::P(TimeInterval(minPastTimePoint,
                                               maxPastTimePoint)), mFormula);
            }
        } else {
            mFormula = std::make_shared<ModalFormula>(
                    modals::P(), mFormula);
        }
    } else if (temporalOperator == TemporalOperator::ALL_PAST) {
        if (minPastTimestamp != -1 || maxPastTimestamp != -1) {
            if (minPastTimestamp == -1) {
                mFormula = std::make_shared<ModalFormula>(
                        modals::H(TimeInterval(std::nullopt,
                                               maxPastTimePoint)), mFormula);
            } else if (maxPastTimestamp == -1) {
                mFormula = std::make_shared<ModalFormula>(
                        modals::H(TimeInterval(minPastTimePoint,
                                               std::nullopt)), mFormula);
            } else {
                mFormula = std::make_shared<ModalFormula>(
                        modals::H(TimeInterval(minPastTimePoint,
                                               maxPastTimePoint)), mFormula);
            }
        } else {
            mFormula = std::make_shared<ModalFormula>(
                    modals::H(), mFormula);
        }
    }
    return mFormula;
}
 
namespace knowrob::py {
    template<>
    void createType<InterfaceUtils>() {
        using namespace boost::python;
 
        // Expose InterfaceUtils class and its methods
        class_<InterfaceUtils>("InterfaceUtils")
                .def("assertStatements", &InterfaceUtils::assertStatements).staticmethod("assertStatements")
                .def("applyModality", &InterfaceUtils::applyModality).staticmethod("applyModality");
 
        // Expose enums
        enum_<EpistemicOperator>("EpistemicOperator")
                .value("KNOWLEDGE", KNOWLEDGE)
                .value("BELIEF", BELIEF);
        enum_<TemporalOperator>("TemporalOperator")
                .value("CURRENTLY", CURRENTLY)
                .value("ALL_PAST", ALL_PAST)
                .value("SOME_PAST", SOME_PAST);
    }
}