API

class Answer

Answer wrapper.

Outputs OK or error messages to ROS.

Public Static Functions

static String org.roboy.memory.util.Answer.ok(String message)

Answer for ROS if no errors were detected.

Return

JSON object {status:”OK”} to ROS

Parameters

• message: contains the success message with json data

static String org.roboy.memory.util.Answer.error(String message)

Answer for ROS if an error occurred.

Return

JSON object containing status and message

Parameters

• message: contains the error message according to the obstacle approached

Private Static Attributes

Logger org.roboy.memory.util.Answer.logger = Logger.getLogger(Answer.class.toString())

class Config

Configuration for ROS, Neo4J and Redis Server connectivity.

Public Static Attributes

final String org.roboy.memory.util.Config.ROS_MASTER_URI = System.getenv(“ROS_MASTER_URI”) == null ? “http://localhost:11311/” : System.getenv(“ROS_MASTER_URI”)

final String org.roboy.memory.util.Config.ROS_HOSTNAME = System.getenv(“ROS_HOSTNAME”) == null ? “127.0.0.1” : System.getenv(“ROS_HOSTNAME”)

final String org.roboy.memory.util.Config.NEO4J_ADDRESS = System.getenv(“NEO4J_ADDRESS”) == null ? “bolt://localhost:7687” : System.getenv(“NEO4J_ADDRESS”)

final String org.roboy.memory.util.Config.NEO4J_USERNAME = System.getenv(“NEO4J_USERNAME”) == null ? “neo4j” : System.getenv(“NEO4J_USERNAME”)

final String org.roboy.memory.util.Config.NEO4J_PASSWORD = System.getenv(“NEO4J_PASSWORD”) == null ? “memory” : System.getenv(“NEO4J_PASSWORD”)

final String org.roboy.memory.util.Config.REDIS_URI = System.getenv(“REDIS_URI”) == null ? “redis://localhost:6379/0” : System.getenv(“REDIS_URI”)

final String org.roboy.memory.util.Config.REDIS_PASSWORD = System.getenv(“REDIS_PASSWORD”) == null ? “root” : System.getenv(“REDIS_PASSWORD”)

class

Data model for JSON parser.

Creates objects, that contain the elements of the Create queries.

Public Functions

String [] org.roboy.memory.models.Create.getFace()

boolean org.roboy.memory.models.Create.validate()

Private Members

String [] org.roboy.memory.models.Create.faceVector

class Dictionary

Public Static Attributes

final HashSet<String> org.roboy.memory.util.Dictionary.LABEL_VALUES

= new HashSet<String>(Arrays.asList(

“Person”,

“Robot”,

“Company”,

“University”,

“City”,

“Country”,

“Hobby”,

“Occupation”,

“Object”,

“Location”,

“Organization”))

final HashSet<String> org.roboy.memory.util.Dictionary.RELATIONSHIP_VALUES

= new HashSet<String> (Arrays.asList(

“FRIEND_OF”,

“LIVE_IN”,

“FROM”,

“WORK_FOR”,

“STUDY_AT”,

“MEMBER_OF”,

“HAS_HOBBY”,

“KNOW”,

“IS”,

“PART_OF”,

“IS_IN”,

“OCCUPIED_AS”,

“CHILD_OF”,

“SIBLING_OF”))

class

Data model for JSON parser.

Creates objects, that contain the elements of the Get queries.

Public Functions

boolean org.roboy.memory.models.Get.validate()

class Header

Data model for JSON parser.

Creates objects, that contain the elements of the Header.

Public Functions

String org.roboy.memory.models.Header.getUser()

Private Members

String org.roboy.memory.models.Header.user

class Main

Public Static Functions

static void org.roboy.memory.Main.main(String[] args)

Private Static Attributes

Logger org.roboy.memory.Main.logger = Logger.getLogger(Main.class.toString())

class MemoryOperations

This class replicates the behaviour of ros.ServiceLogic.

We make use of the exact same functions, just refactored to not be Services.

Public Static Functions

static String org.roboy.memory.util.MemoryOperations.create(String request)

Create a node.

Return

JSON containing the ID of the new node

Parameters

• request: Query with data regarding the node. Ex: {“labels”:[“Organization”],”label”:”Organization”,”properties”:{“name”:”korn”}}

static String org.roboy.memory.util.MemoryOperations.get(String request)

Get the Node ID.

Return

JSON containing ID of node

Parameters

• request: Query to specify Node to get. Ex: {“labels”:[“Person”],”label”:”Person”,”properties”:{“name”:”davis”}}

static String org.roboy.memory.util.MemoryOperations.update(String request)

Update Nodes.

Return

JSON establishing whether or not the connection was made or not

Parameters

• request: Query to link two nodes together. Ex: {“labels”:[“Person”],”label”:”Person”,”properties”:{“name”:”davis”},”relationships”:{“FROM”:[369]},”id”:368}

static String org.roboy.memory.util.MemoryOperations.cypher(String request)

Cypher Method that is never called TODO: Implement this feature or refactor it out, it’s kind of here because there was a service.

Return

Parameters

• request:

static String org.roboy.memory.util.MemoryOperations.delete(String request)

This method should contain the code of remove, to make things consistent. See SDE-60

static String org.roboy.memory.util.MemoryOperations.remove(String request)

Delete a Node.

Return

Whether or not deleting was successful or not

Parameters

• request: JSON query to delete a specified node. Ex: {‘type’:’node’,’id’:361,’properties_list’: [‘sex’], ‘relationships’:{‘FRIEND_OF’:[426]}}

Private Static Attributes

Gson org.roboy.memory.util.MemoryOperations.parser = new Gson()

class Neo4j : public AutoCloseable

Contains the methods for running GET, CREATE, UPDATE, REMOVE and Cypher queries.

Talks to the Neo4j and Redis databases. Handles the result retrieved from Neo4j.

Public Functions

void org.roboy.memory.util.Neo4j.close()

Public Static Functions

static Driver org.roboy.memory.util.Neo4j.getInstance()

Singleton for the Neo4j class.

Return

Neo4J Driver instance if the object of Neo4j class is initialized

static Value org.roboy.memory.util.Neo4j.parameters(Object... keysAndValues)

Wrapper for the Neo4j query parameters.

Return

Set of keys and values for parameters

static String org.roboy.memory.util.Neo4j.run(String query)

Method to channel a plain Cypher query to Neo4j.

Return

plain response from Neo4j

Parameters

• query: formed in Cypher

static String org.roboy.memory.util.Neo4j.createNode(Create create)

Method accepting JSON Create queries.

Return

result obtained by createNode method

static String org.roboy.memory.util.Neo4j.updateNode(Update update)

Method accepting JSON Update queries.

Return

result obtained by update method

static String org.roboy.memory.util.Neo4j.getNodeById(int id)

Method accepting JSON Get by ID queries.

Return

result obtained by matchNodeById method

Parameters

• id: is a unique pointer to the node in Neo4j DB

static String org.roboy.memory.util.Neo4j.getNode(Get get)

static String org.roboy.memory.util.Neo4j.remove(Remove remove)

Method accepting JSON Remove queries.

Return

result obtained by removeRelsProps method

Private Functions

org.roboy.memory.util.Neo4j.Neo4j()

Driver org.roboy.memory.util.Neo4j.getDriver()

Getter for the Neo4j driver instance.

Return

Neo4J Driver instance

Private Static Functions

static String org.roboy.memory.util.Neo4j.createNode(Session session, Create create)

Method processing JSON Create queries.

Return

ID of the node that was created in Neo4j DB

Parameters

• session: is a session handler for transaction handling to query Neo4j DB

static void org.roboy.memory.util.Neo4j.saveToJedis(String[] face, String id)

static String org.roboy.memory.util.Neo4j.update(Transaction tx, Update update)

Method processing JSON Update queries.

Return

response from Neo4j upon updating the node

Parameters

• tx: is a transaction handler to query Neo4j DB

static String org.roboy.memory.util.Neo4j.matchNodeById(Transaction tx, int id)

Method processing JSON Get by ID queries.

Return

a JSON object containing node labels, properties and relationships

Parameters

• tx: is a transaction handler to query Neo4j DB
• id: is a unique pointer to the node in Neo4j DB

static int [] org.roboy.memory.util.Neo4j.toIntArray(List< Integer > list)

static Node org.roboy.memory.util.Neo4j.createNode(int id, HashMap< String, String > properties, HashMap< String, int[]> relationships)

static String org.roboy.memory.util.Neo4j.matchNode(Transaction tx, Get get)

static String org.roboy.memory.util.Neo4j.remove(Transaction tx, Remove remove)

Method processing JSON Remove queries.

Return

response from Neo4j upon removing the specified relationships and properties

Parameters

• tx: is a transaction handler to query Neo4j DB

Private Static Attributes

Neo4j org.roboy.memory.util.Neo4j._instance

Driver org.roboy.memory.util.Neo4j._driver

Jedis org.roboy.memory.util.Neo4j.jedis

Gson org.roboy.memory.util.Neo4j.gson = new Gson()

Logger org.roboy.memory.util.Neo4j.logger = Logger.getLogger(Neo4j.class.toString())

class Node

Subclassed by org.roboy.memory.models.RosNode

Public Functions

org.roboy.memory.models.Node.Node()

String org.roboy.memory.models.Node.getLabel()

void org.roboy.memory.models.Node.setLabel(String label)

Integer org.roboy.memory.models.Node.getId()

void org.roboy.memory.models.Node.setId(Integer id)

HashMap<String, String> org.roboy.memory.models.Node.getProperties()

void org.roboy.memory.models.Node.setProperties(HashMap< String, String > properties)

HashMap<String, int[]> org.roboy.memory.models.Node.getRelationships()

void org.roboy.memory.models.Node.setRelationships(HashMap< String, int[]> relationships)

Private Members

String org.roboy.memory.models.Node.label

Integer org.roboy.memory.models.Node.id

HashMap<String, String> org.roboy.memory.models.Node.properties

HashMap<String, int[]> org.roboy.memory.models.Node.relationships

class QueryBuilder

Public Functions

org.roboy.memory.util.QueryBuilder.QueryBuilder()

QueryBuilder org.roboy.memory.util.QueryBuilder.add(String text)

QueryBuilder org.roboy.memory.util.QueryBuilder.addParameters(HashMap< String, String > params)

String org.roboy.memory.util.QueryBuilder.getQuery()

QueryBuilder org.roboy.memory.util.QueryBuilder.matchById(int id, String letter)

QueryBuilder org.roboy.memory.util.QueryBuilder.set(HashMap< String, String > properties, String letter)

QueryBuilder org.roboy.memory.util.QueryBuilder.add(String text, Object... args)

Private Members

StringBuilder org.roboy.memory.util.QueryBuilder.builder

class

Data model for JSON parser.

Creates objects, that contain the elements of the Remove queries.

Public Functions

HashSet<String> org.roboy.memory.models.Remove.getPropertiesList()

boolean org.roboy.memory.models.Remove.validate()

Private Members

HashSet<String> org.roboy.memory.models.Remove.properties_list

class

Subclassed by org.roboy.memory.models.Create, org.roboy.memory.models.Get, org.roboy.memory.models.Remove, org.roboy.memory.models.Update

Public Functions

String org.roboy.memory.models.RosNode.getError()

abstract boolean org.roboy.memory.models.RosNode.validate()

Protected Functions

void org.roboy.memory.models.RosNode.error(String text)

Private Members

transient String org.roboy.memory.models.RosNode.error

class RosNode : public AbstractNodeMain

ROS Service for saving data object to DB.

Data is received as JSON object. JSON object is parsed using Parser and saved to neo4j.

Public Functions

GraphName org.roboy.memory.ros.RosNode.getDefaultNodeName()

void org.roboy.memory.ros.RosNode.onStart(ConnectedNode connectedNode)

Initialising the ROS services and setting ROS services URIs.

Parameters

• connectedNode: is the ROS node carrying the services.

Package Static Functions

static void org.roboy.memory.ros.RosNode.register(NodeConfiguration nodeConfiguration, NodeMainExecutor nodeMainExecutor)

Registers the ROS node.

Parameters

• nodeConfiguration: is the ROS node configurator
• nodeMainExecutor: is the ROS node executor

Private Static Attributes

String org.roboy.memory.ros.RosNode.name = “/roboy/cognition/memory”

URI for the ROS node.

class RosRun

This server is responsible for starting ros services.

Public Functions

org.roboy.memory.ros.RosRun.RosRun()

Constructor.

Initializes the ROS node.

void org.roboy.memory.ros.RosRun.start()

Registers the ROS node with services in the network.

void org.roboy.memory.ros.RosRun.stop()

Shutdowns the ROS node and terminates the services.

Private Members

NodeMainExecutor org.roboy.memory.ros.RosRun.nodeMainExecutor

ROS executor.

NodeConfiguration org.roboy.memory.ros.RosRun.nodeConfiguration

ROS node configurator.

class ServiceLogic

Contains service handlers to talk with ROS.

They parse the header and payload and check for invalid elements in the query. Then the functions to construct the cypher queries are excecuted and the answer returned.

Public Static Attributes

ServiceResponseBuilder<DataQueryRequest, DataQueryResponse> org.roboy.memory.ros.ServiceLogic.createServiceHandler

= (request, response) -> {

Header

header = parser.fromJson(request.getHeader(), Header.class);

Create

create = parser.fromJson(request.getPayload(), Create.class);

if (create.validate()) {

if (!create.getLabel().toUpperCase().equals(“OTHER”)) {

response.setAnswer(

Neo4j.createNode

(create));

} else {

response.setAnswer(create.getError());

}

} else {

response.setAnswer(create.getError());

}

}

Create Service Handler.

Parses the header and payload into a create object with Gson and checks for invalid elements in the query. Calls createNode() method to query Neo4j and the answer is returned.

ServiceResponseBuilder<DataQueryRequest, DataQueryResponse> org.roboy.memory.ros.ServiceLogic.updateServiceHandler

= (request, response) -> {

Header

header = parser.fromJson(request.getHeader(), Header.class);

Update

update = parser.fromJson(request.getPayload(), Update.class);

if (update.validate()) {

if (!update.getLabel().toUpperCase().equals(“OTHER”)) {

response.setAnswer(ok(

Neo4j.updateNode

(update)));

} else {

response.setAnswer(error(update.getError()));

}

} else {

response.setAnswer(error(update.getError()));

}

}

Update Service Handler.

Parses the header and payload into an update object with Gson and checks for invalid relationship types in the query. Calls updateNode() method to query Neo4j and the answer is returned.

ServiceResponseBuilder<DataQueryRequest, DataQueryResponse> org.roboy.memory.ros.ServiceLogic.getServiceHandler

= (request, response) ->

{

Header

header = parser.fromJson(request.getHeader(), Header.class);

logger.info(“Request payload: ” + request.getPayload());

Get

get = parser.fromJson(request.getPayload(), Get.class);

if (get.getId() != null ) {

response.setAnswer(

Neo4j.getNodeById

(get.getId()));

} else {

if (!get.getLabel().toUpperCase().equals(“OTHER”)) {

response.setAnswer(Neo4j.getNode(get));

} else {

response.setAnswer(error(get.getError()));

}

}

}

Get Service Handler.

Parses the header and payload into a get object with Gson and checks whether node IDs or information about a node is queried. Calls getNodeById() or getNode() methods to query Neo4j and the answer is returned.

ServiceResponseBuilder<DataQueryRequest, DataQueryResponse> org.roboy.memory.ros.ServiceLogic.cypherServiceHandler

= (request, response) -> {

Header

header = parser.fromJson(request.getHeader(), Header.class);

response.setAnswer(

Neo4j.run

(request.getPayload()));

}

Cypher Service Handler.

Directly runs a plain Cypher query which is contained in the payload and returns the response.

ServiceResponseBuilder<DataQueryRequest, DataQueryResponse> org.roboy.memory.ros.ServiceLogic.removeServiceHandler

= (request, response) -> {

Header

header = parser.fromJson(request.getHeader(), Header.class);

Remove

remove = parser.fromJson(request.getPayload(), Remove.class);

if (remove.validate()) {

response.setAnswer(ok(

Neo4j.remove

(remove)));

} else {

response.setAnswer(error(remove.getError()));

}

}

Remove Service Handler.

Parses the header and payload into a remove object. Calls remove() method to query Neo4j and the answer is returned.

Private Static Attributes

Gson org.roboy.memory.ros.ServiceLogic.parser = new Gson()

Logger org.roboy.memory.ros.ServiceLogic.logger = Logger.getLogger(ServiceLogic.class.toString())

class

Data model for JSON parser.

Creates objects, that contain the elements of the Update queries.

Public Functions

boolean org.roboy.memory.models.Update.validate()

namespace org

namespace v1

namespace roboy

namespace memory

namespace models

namespace ros

namespace util

namespace Config

file Main.java

file Create.java

file Get.java

file Header.java

file Node.java

file Remove.java

file RosNode.java

file RosNode.java

file Update.java

file RosRun.java

file ServiceLogic.java

file Answer.java

file Config.java

file Dictionary.java

file MemoryOperations.java

file Neo4j.java

file QueryBuilder.java

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