InformationRetrieval.java

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/****************************************************************
 *
 * Copyright (c) 2011, 2012
 *
 * School of Engineering, Cardiff University, UK
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: srs EU FP7 (www.srs-project.eu)
 * ROS stack name: srs
 * ROS package name: srs_knowledge
 * Description: 
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * @author Ze Ji, email: jiz1(at)cf.ac.uk
 *
 * Date of creation: April 2012
 * ToDo: 
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *         notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *         notice, this list of conditions and the following disclaimer in the
 *         documentation and/or other materials provided with the distribution.
 *       * Neither the name of the school of engineering, Cardiff University
 *         nor the names of its contributors may be used to endorse or promote 
 *         products derived from this software without specific prior written 
 *         permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

package org.srs.srs_knowledge.utils;

import java.io.*;
import java.util.StringTokenizer;
import java.util.ArrayList;
import java.util.Iterator;
import ros.pkg.srs_knowledge.msg.*;
import ros.pkg.geometry_msgs.msg.Pose2D;
import org.srs.srs_knowledge.knowledge_engine.*;

import ros.*;
import ros.communication.*;

import com.hp.hpl.jena.rdf.model.*;
import com.hp.hpl.jena.vocabulary.*;
import com.hp.hpl.jena.util.FileManager;

import com.hp.hpl.jena.rdf.model.Property;
import com.hp.hpl.jena.ontology.OntClass;
import com.hp.hpl.jena.ontology.OntModel;
import com.hp.hpl.jena.rdf.model.Statement;
import com.hp.hpl.jena.ontology.Individual;
import com.hp.hpl.jena.shared.Lock;
import com.hp.hpl.jena.ontology.OntResource;

import tfjava.*;

import javax.vecmath.Quat4d;
import javax.vecmath.Vector3d;
import javax.vecmath.Point3d;
import javax.vecmath.Matrix4d;

import math.geom2d.*;
import math.geom2d.line.LineSegment2D;
import math.geom2d.polygon.Polygon2DUtils;
import math.geom2d.polygon.Polygon2D;
import math.geom2d.polygon.SimplePolygon2D;

import math.geom2d.Point2D;

import ros.pkg.srs_object_database_msgs.srv.GetObjectId;
//import ros.pkg.srs_object_database_msgs.msg.*;

public class InformationRetrieval 
{
    public static BoundingBoxDim retrieveBoundingBoxInfo(String objectClassURI) {
        // global variables (ROS, Ontology handler etc)
        // if there does not exist such an object, then insert a new one
        // bounding box can be obtained from HHDB
        BoundingBoxDim d = new BoundingBoxDim();
        // look for existing or history data
        
        Iterator<Individual> instances = KnowledgeEngine.ontoDB.getInstancesOfClass(objectClassURI);
        if(instances != null) {
            if(instances.hasNext()) {
                com.hp.hpl.jena.rdf.model.Statement stm;
                Individual temp = instances.next();
                stm = KnowledgeEngine.ontoDB.getPropertyOf(OntoQueryUtil.GlobalNameSpace, "widthOfObject", temp);
                d.w = getFloatOfStatement(stm, -1000);
                stm = KnowledgeEngine.ontoDB.getPropertyOf(OntoQueryUtil.GlobalNameSpace, "heightOfObject", temp);
                d.h = getFloatOfStatement(stm, -1000);
                stm = KnowledgeEngine.ontoDB.getPropertyOf(OntoQueryUtil.GlobalNameSpace, "lengthOfObject", temp);
                d.l = getFloatOfStatement(stm, -1000);
                if(d.w != -1000 && d.h != -1000 && d.l != -1000) {
                    return d;
                }
            }
        }
        
        // if no, check hhdb by calling ros service 

        ServiceClient<GetObjectId.Request, GetObjectId.Response, GetObjectId> sc = KnowledgeEngine.nodeHandle.serviceClient("get_models" , new GetObjectId(), false);
        
        GetObjectId.Request rq = new GetObjectId.Request();     
        
        rq.type = "item";
        String[] subStrs = objectClassURI.trim().split("#");
        String objectClass = objectClassURI;
        if(subStrs.length == 2) {
            objectClass = subStrs[1];
        }
        rq.item = objectClass;
        ArrayList<String> modelDesc = new ArrayList<String>();
        ArrayList<String> modelCategory = new ArrayList<String>();
        int id = -1000;
        
        try {
            GetObjectId.Response res = sc.call(rq);
            int[] ids = res.model_ids;
            modelDesc = res.model_desc;
            modelCategory = res.model_category;
            for (int i = 0; i < modelDesc.size(); i++) {
                if(modelDesc.get(i).equals(objectClass)) {
                    // objectClass in Knowledgebase is model_desc in HHDB, not model_category... 
                    id = ids[i];
                    
                    d.l = res.model_x_size[i];
                    d.w = res.model_y_size[i];
                    d.h = res.model_z_size[i];
                    if(d.l != 0 && d.h != 0 && d.w != 0) {
                        sc.shutdown();
                        return d;
                    }
                }
            }
        }
        catch(RosException e) {
            System.out.println(e.getMessage());
            sc.shutdown();
            return new BoundingBoxDim();
        }       
        sc.shutdown();

        return new BoundingBoxDim();
    }

    public static float getFloatOfStatement(com.hp.hpl.jena.rdf.model.Statement stm, float defaultIfInvalid) {
        float t = defaultIfInvalid;
        try { 
            t = stm.getFloat();
        }
        catch(Exception e) {
            System.out.println(e.getMessage());
        }
        return t;
    }

    private static int getIntOfStatement(Statement stm, int defaultIfInvalid)
    {
        int t = defaultIfInvalid;
        try { 
            t = stm.getInt();
        }
        catch(Exception e) {
            System.out.println(e.getMessage());
        }
        return t;
    }
}