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Merge pull request #171 from meta-control/dev
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⚡ use lock and use a single variable for ontology
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@Rezenders
Rezenders authored Jan 17, 2024
2 parents 6fa0f01 + 54d9f2c commit 9b1f915
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Showing 3 changed files with 76 additions and 81 deletions.
88 changes: 44 additions & 44 deletions mros2_reasoner/mros2_reasoner/reasoner.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,10 @@

class Reasoner:

def __init__(self, tomasys_file, model_file):
def __init__(self, ontology_file):

# owl model with the tomasys ontology
self.tomasys = read_ontology_file(tomasys_file)
# application model as individuals of tomasys classes
self.onto = read_ontology_file(model_file)
self.tomasys = read_ontology_file(ontology_file)

# This Lock is used to ensure safety of tQAvalues
self.ontology_lock = Lock()
Expand All @@ -46,9 +44,9 @@ def __init__(self, tomasys_file, model_file):

def remove_objective(self, objective_id):
# Checks if there are previously defined objectives.
old_objective = self.onto.search_one(iri="*{}".format(objective_id))
old_objective = self.tomasys.search_one(iri="*{}".format(objective_id))
if old_objective:
old_fg_instance = self.onto.search_one(solvesO=old_objective)
old_fg_instance = self.tomasys.search_one(solvesO=old_objective)
with self.ontology_lock:
destroy_entity(old_fg_instance)
destroy_entity(old_objective)
Expand All @@ -57,7 +55,7 @@ def remove_objective(self, objective_id):
return False

def search_objectives(self):
objectives = self.onto.search(type=self.tomasys.Objective)
objectives = self.tomasys.search(type=self.tomasys.Objective)
return objectives

def has_objective(self):
Expand Down Expand Up @@ -89,12 +87,13 @@ def get_new_tomasys_objective(self, objective_name, iri_seed):
""" Creates Objective individual in the KB given a desired name and a
string seed for the Function name
"""
objective = self.tomasys.Objective(
str(objective_name),
namespace=self.onto,
typeF=self.onto.search_one(
iri=str(iri_seed)))
return objective
with self.ontology_lock:
objective = self.tomasys.Objective(
str(objective_name),
namespace=self.tomasys,
typeF=self.tomasys.search_one(
iri=str(iri_seed)))
return objective

def get_new_tomasys_nfr(self, qa_value_name, nfr_key, nfr_value):
"""Creates QAvalue individual in the KB given a desired name and a
Expand All @@ -105,26 +104,28 @@ def get_new_tomasys_nfr(self, qa_value_name, nfr_key, nfr_value):
# substituted by a single search
qa_type = self.get_qa_type(nfr_key)

new_nfr = self.tomasys.QAvalue(
str(qa_value_name),
namespace=self.onto,
isQAtype=qa_type,
hasValue=nfr_value)
with self.ontology_lock:
new_nfr = self.tomasys.QAvalue(
str(qa_value_name),
namespace=self.tomasys,
isQAtype=qa_type,
hasValue=nfr_value)

return new_nfr
return new_nfr

def set_new_grounding(self, fd_name, objective):
"""Given a string fd_name with the name of a FunctionDesign and an
objective, removes the previous fg for the objective and ground a new
fg of typeF fd
"""
remove_objective_grounding(objective, self.tomasys, self.onto)
fd = self.onto.search_one(
with self.ontology_lock:
remove_objective_grounding(objective, self.tomasys)
fd = self.tomasys.search_one(
iri="*{}".format(fd_name),
is_a=self.tomasys.FunctionDesign)
if fd:
with self.ontology_lock:
ground_fd(fd, objective, self.tomasys, self.onto)
ground_fd(fd, objective, self.tomasys)
reset_objective_status(objective)
return str(fd.name)
else:
Expand All @@ -136,12 +137,13 @@ def set_new_grounding(self, fd_name, objective):
# - level: values 0 and 1 are mapped to nothing, values 2 or 3 are mapped
# to fg.status="INTERNAL_ERROR"
def update_binding(self, diagnostic_status):
fg = self.onto.search_one(iri="*{}".format(diagnostic_status.name))
fg = self.tomasys.search_one(iri="*{}".format(diagnostic_status.name))
if fg is None:
return -1
if diagnostic_status.level > 1:
fg.fg_status = "INTERNAL_ERROR"
return 1
with self.ontology_lock:
fg.fg_status = "INTERNAL_ERROR"
return 1
else:
return 0

Expand All @@ -152,14 +154,13 @@ def update_binding(self, diagnostic_status):
def update_component_status(self, diagnostic_status):
# Find the Component with the same name that the one in the Component
# Status message (in diagnostic_status.key)
component_type = self.onto.search_one(
component_type = self.tomasys.search_one(
iri="*{}".format(diagnostic_status.values[0].key))
if component_type is not None:
value = diagnostic_status.values[0].value
with self.ontology_lock:
reset_fd_realisability(
self.tomasys,
self.onto,
diagnostic_status.values[0].key)
component_type.c_status = value
return_value = 1
Expand All @@ -170,7 +171,7 @@ def update_component_status(self, diagnostic_status):
def get_qa_type(self, key):
# TODO: this search is not optimal, the search + loop can be
# substituted by a single search or instances()
qa_types = self.onto.search(type=self.tomasys.QualityAttributeType)
qa_types = self.tomasys.search(type=self.tomasys.QualityAttributeType)
qa_type = None
for qa in qa_types:
if qa.name == key:
Expand All @@ -184,9 +185,10 @@ def get_function_groudings_require_qa(self, qa_key):
_fgs = []
for fg in fgs:
function_design = fg.typeFD
for qa in function_design.hasQAestimation:
if str(qa.isQAtype) == str(qa_key):
_fgs.append(fg)
if function_design is not None:
for qa in function_design.hasQAestimation:
if str(qa.isQAtype) == str(qa_key):
_fgs.append(fg)
return _fgs

# update QA value based on incoming diagnostic
Expand All @@ -197,7 +199,7 @@ def update_qa(self, diagnostic_status):
value = float(diagnostic_status.values[0].value)
with self.ontology_lock:
measured_qa = update_measured_qa_value(
qa_type, value, self.tomasys, self.onto)
qa_type, value, self.tomasys)
for fg in fgs:
update_fg_measured_qa(fg, measured_qa)
return_value = True
Expand All @@ -209,27 +211,24 @@ def update_qa(self, diagnostic_status):
# TODO CHECK: update reasoner facts, evaluate, retrieve action, publish
# update reasoner facts
def perform_reasoning(self):
return_value = False
with self.ontology_lock:
with self.onto:
with self.tomasys:
try:
sync_reasoner_pellet(
infer_property_values=True,
infer_data_property_values=True)
return_value = True
except Exception as err:
self.logger.error(
"Error in perform_reasoning: {0}".format(err))
return False
# raise err

return return_value
return True

# For debugging purposes: saves state of the KB in an ontology file
# TODO move to library
# TODO save file in a temp location
def save_ontology_exit(self, signal, frame):
self.onto.save(file="error.owl", format="rdfxml")
self.tomasys.save(file="error.owl", format="rdfxml")
sys.exit(0)

def handle_updatable_objectives(self, obj_in_error):
Expand All @@ -238,11 +237,12 @@ def handle_updatable_objectives(self, obj_in_error):
">> UPDATABLE objective - Try to clear Components status")
for comp_inst in list(
self.tomasys.ComponentState.instances()):
if comp_inst.c_status == "RECOVERED":
self.logger.info(
"Component {0} Status {1} - Set to None".format(
comp_inst.name, comp_inst.c_status))
comp_inst.c_status = None
with self.ontology_lock:
if comp_inst.c_status == "RECOVERED":
self.logger.info(
"Component {0} Status {1} - Set to None".format(
comp_inst.name, comp_inst.c_status))
comp_inst.c_status = None

# selects configurations requested by the user
def select_requested_configurations(self):
Expand Down Expand Up @@ -282,7 +282,7 @@ def analyze(self):
# EXEC REASONING to update ontology with inferences
if self.perform_reasoning() is False:
self.logger.error('>> Reasoning error')
self.onto.save(
self.tomasys.save(
file="error_reasoning.owl", format="rdfxml")
return objectives_in_error

Expand Down
17 changes: 6 additions & 11 deletions mros2_reasoner/mros2_reasoner/ros_reasoner.py
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
import rclpy

from rclpy.action import ActionServer
from rclpy.action import CancelResponse
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.node import Node
from rclpy.parameter import Parameter

from system_modes_msgs.srv import ChangeMode
from diagnostic_msgs.msg import DiagnosticArray
from diagnostic_msgs.msg import KeyValue

from mros2_reasoner.reasoner import Reasoner

from mros2_msgs.action import ControlQos
from mros2_msgs.msg import QoS
from mros2_msgs.srv import MetacontrolFD


Expand All @@ -25,12 +21,11 @@ def __init__(self):
self.declare_parameter('model_file', Parameter.Type.STRING)
self.declare_parameter('tomasys_file', Parameter.Type.STRING_ARRAY)

ontology_file = self.get_parameter('tomasys_file').value
ontology_file.append(self.get_parameter('model_file').value)
# Get ontology and tomasys file paths from parameters
Reasoner.__init__(
self,
self.get_parameter('tomasys_file').value,
self.get_parameter('model_file').value
)

Reasoner.__init__(self, ontology_file)

self.declare_parameter('desired_configuration', Parameter.Type.STRING)
self.declare_parameter('reasoning_period', 2)
Expand Down Expand Up @@ -152,7 +147,7 @@ def objective_action_callback(self, objective_handle):
feedback_msg.qos_status.objective_type = \
str(request_objective.qos_expected.objective_type)

fg_instance = self.onto.search_one(solvesO=objective)
fg_instance = self.tomasys.search_one(solvesO=objective)
if fg_instance is not None:
feedback_msg.qos_status.selected_mode = \
fg_instance.typeFD.name
Expand Down Expand Up @@ -199,7 +194,7 @@ def create_objective(self, goal_request):

# MVP: callback for diagnostic msg received from QA Observer
def diagnostics_callback(self, msg):
if self.onto is not None and self.has_objective() is True:
if self.tomasys is not None and self.has_objective() is True:
for diagnostic_status in msg.status:
if diagnostic_status.message == 'binding error':
self.logger.info('binding error received')
Expand Down
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