API¶

class Answer¶

Answer wrapper.

Outputs OK or error messages to ROS.

Public Static Functions

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

Answer for ROS if no errors were detected.

Return: JSON object {status:”OK”} to ROS

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 = "http://127.0.0.1:11311/"

ROS Configuration.

IP adress of the PC with roscore

final String org.roboy.memory.util.Config.ROS_HOSTNAME = "127.0.0.1": IP address of the current PC in the network.

final String org.roboy.memory.util.Config.NEO4J_ADDRESS = "bolt://127.0.0.1:7687"

Neo4J Configuration.

Neo4j DB location

final String org.roboy.memory.util.Config.NEO4J_USERNAME = "***": Neo4j instance username.

final String org.roboy.memory.util.Config.NEO4J_PASSWORD = "***": Neo4j instance password.

final String org.roboy.memory.util.Config.REDIS_URI = "redis://127.0.0.1:6379/0"

Redis Configuration.

Redis storage location

final String org.roboy.memory.util.Config.REDIS_PASSWORD = "***": Redis storage instance password.

final String [] org.roboy.memory.util.Config.LABEL_VALUES = new String[] { "Person","Robot","Company","University","City","Country","Hobby","Occupation","Object" }

KR Entries Configuration.

Available label types

final String [] org.roboy.memory.util.Config.RELATION_VALUES = new String[] { "FRIEND_OF","LIVE_IN","FROM","WORK_FOR","STUDY_AT","MEMBER_OF","HAS_HOBBY","KNOW","IS","PART_OF","IS_IN" }: Available reltionship types.

class Create¶

Data model for JSON parser.

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

Public Functions

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

String org.roboy.memory.models.Create.getType()

Map<String, String> org.roboy.memory.models.Create.getProperties()

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

Private Members

String org.roboy.memory.models.Create.type: Currently only used to specify the type “node”.

String org.roboy.memory.models.Create.label: Specifies the type of node that shall be created, like “Person”.

String [] org.roboy.memory.models.Create.faceVector: JSON array containing facial features from vision module.

Map<String, String> org.roboy.memory.models.Create.properties: Contains the node properties.

class Get¶

Data model for JSON parser.

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

Public Functions

int org.roboy.memory.models.Get.getId()

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

Map<String, String[]> org.roboy.memory.models.Get.getRelations()

Map<String, String> org.roboy.memory.models.Get.getProperties()

Private Members

String org.roboy.memory.models.Get.label: Specifies the type of node that shall be searched, like “Person”.

int org.roboy.memory.models.Get.id: The id of a node that shall be searched.

Map<String, String[]> org.roboy.memory.models.Get.relations: Contains the relationship type as key and an array of node IDs as value.

Map<String, String> org.roboy.memory.models.Get.properties: Contains the node properties.

class Header¶

Data model for JSON parser.

Creates objects, that contain the elements of the Header.

Public Functions

LocalDateTime org.roboy.memory.models.Header.getDateTime()

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

Private Members

String org.roboy.memory.models.Header.user: Contains the module which is sending the query, for example “vision”.

String org.roboy.memory.models.Header.datetime: Contains a timestamp in seconds since 1.1.1970.

class Main¶

Public Static Functions

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

class Neo4j¶

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.

Inherits from AutoCloseable

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(String label, String[] faceVector, Map< String, String > properties)

Method accepting JSON Create queries.

Return

result obtained by createNode method

Parameters

label: is denoting a type of the node to be created
faceVector: contains face features for a node of label “Person”. OPTIONAL
properties: is a dictionary containing properties of the node

static String org.roboy.memory.util.Neo4j.updateNode(int id, Map< String, String[]> relations, Map< String, String > properties)

Method accepting JSON Update queries.

Return

result obtained by update method

Parameters

id: is a unique pointer to the node in Neo4j DB
relations: is a dictionary containing relationships of the node with other nodes
properties: is a dictionary containing properties of the node

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(String label, Map< String, String[]> relations, Map< String, String > properties)

Method accepting JSON Get IDs of nodes queries.

Return

result obtained by matchNode method

Parameters

label: is denoting a type of the nodes to be included
relations: is a dictionary containing relationships of the nodes with other nodes
properties: is a dictionary containing properties of the nodes

static String org.roboy.memory.util.Neo4j.remove(int id, Map< String, String[]> relations, String[] properties)

Method accepting JSON Remove queries.

Return

result obtained by removeRelsProps method

Parameters

id: of the node which relations and properties need to be removed
relations: is a dictionary containing relationships of the node with other nodes
properties: is a dictionary containing properties of the node

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, Map< String, String > properties, String[] faceVector, String label)

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
label: is denoting a type of the node to be created
faceVector: contains face features for a node of label “Person”. OPTIONAL
properties: is a dictionary containing properties of the node

static String org.roboy.memory.util.Neo4j.update(Transaction tx, int id, Map< String, String[]> relations, Map< String, String > properties)

Method processing JSON Update queries.

Return

response from Neo4j upon updating the node

Parameters

tx: is a transaction handler to query Neo4j DB
id: is a unique pointer to the node in Neo4j DB
relations: is a dictionary containing relationships of the node with other nodes
properties: is a dictionary containing properties of the node

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 String org.roboy.memory.util.Neo4j.matchNode(Transaction tx, String label, Map< String, String[]> relations, Map< String, String > properties)

Method processing JSON Get IDs of nodes queries.

Return

JSON array of nodes’ IDs

Parameters

tx: is a transaction handler to query Neo4j DB
label: is denoting a type of the nodes to be included
relations: is a dictionary containing relationships of the nodes with other nodes
properties: is a dictionary containing properties of the nodes

static String org.roboy.memory.util.Neo4j.removeRelsProps(Transaction tx, int id, Map< String, String[]> relations, String[] properties)

Method processing JSON Remove queries.

Return

response from Neo4j upon removing the specified relations and properties

Parameters

tx: is a transaction handler to query Neo4j DB
id: of the node which relations and properties need to be removed
relations: is a dictionary containing relationships of the node with other nodes
properties: is a dictionary containing properties of the node

Private Static Attributes

Neo4j org.roboy.memory.util.Neo4j._instance: An instance of the class.

Driver org.roboy.memory.util.Neo4j._driver: An instance of Neo4j driver.

Jedis org.roboy.memory.util.Neo4j.jedis: An instance of Jedis for Redis handling.

Gson org.roboy.memory.util.Neo4j.parser = new Gson(): An instance of Gson parser for creating JSON response.

Logger org.roboy.memory.util.Neo4j.logger = Logger.getLogger(Neo4j.class.toString()): An instance of the logger.

class Remove¶

Data model for JSON parser.

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

Public Functions

int org.roboy.memory.models.Remove.getId()

String [] org.roboy.memory.models.Remove.getProperties()

Map<String, String[]> org.roboy.memory.models.Remove.getRelations()

Private Members

int org.roboy.memory.models.Remove.id: The id of a node that shall be modified.

String org.roboy.memory.models.Remove.type: Currently only used to specify the type “node”.

String org.roboy.memory.models.Remove.label: Specifies the type of node that shall be removes, like “Person”.

Map<String, String[]> org.roboy.memory.models.Remove.relations: Contains the relationship type as key and an array of node IDs as value.

String [] org.roboy.memory.models.Remove.properties: Contains the node properties.

class RosNode¶

ROS Service for saving data object to DB.

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

Inherits from AbstractNodeMain

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.

Package 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.getFace() != null) { System.out.println("FaceVector: " + create.getFace().toString()); } if (create.getProperties() == null) { response.setAnswer(error("no properties")); return; } else if (!create.getProperties().containsKey("name")){ response.setAnswer(error("no name specified in properties : name required")); return; } else if (create.getLabel() != null && !labels.contains(create.getLabel().substring(0,1).toUpperCase() + create.getLabel().substring(1).toLowerCase())) { response.setAnswer(error("Label '" + create.getLabel() + "' doesn't exist in the DB")); return; } else { response.setAnswer(Neo4j.createNode(create.getLabel(), create.getFace(), create.getProperties())); } }

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.getRelations() != null) { for (String rel : update.getRelations().keySet()) { if (!relations.contains(rel.toUpperCase())) { response.setAnswer(error("The relationship type '" + rel + "' doesn't exist in the DB")); return; } } } Neo4j.updateNode(update.getId(), update.getRelations(), update.getProperties()); response.setAnswer(ok()); }

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); Get get = parser.fromJson(request.getPayload(), Get.class); Gson gson = new GsonBuilder().setPrettyPrinting().create(); logger.info(gson.toJson(get)); if (get.getId() != 0) { response.setAnswer(Neo4j.getNodeById(get.getId())); } else { response.setAnswer(Neo4j.getNode(get.getLabel(), get.getRelations(), get.getProperties())); } }

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); logger.info(request.getPayload()); 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); Neo4j.remove(remove.getId(), remove.getRelations(), remove.getProperties()); response.setAnswer(ok()); }

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

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

Gson org.roboy.memory.ros.ServiceLogic.parser = new Gson(): Parses the JSON elements of the header and payload.

HashSet<String> org.roboy.memory.ros.ServiceLogic.labels = new HashSet<String>(Arrays.asList(LABEL_VALUES)): Contains available label types.

HashSet<String> org.roboy.memory.ros.ServiceLogic.relations = new HashSet<String>(Arrays.asList(RELATION_VALUES)): Contains available relationship types.

class Update¶

Data model for JSON parser.

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

Public Functions

int org.roboy.memory.models.Update.getId()

Map<String, String> org.roboy.memory.models.Update.getProperties()

Map<String, String[]> org.roboy.memory.models.Update.getRelations()

Private Members

int org.roboy.memory.models.Update.id: The id of a node that shall be modified.

String org.roboy.memory.models.Update.type: Currently only used to specify the type “node”.

String org.roboy.memory.models.Update.label: Specifies the type of node that shall be updated, like “Person”.

Map<String, String[]> org.roboy.memory.models.Update.relations: Contains the relationship type as key and an array of node IDs as value.

Map<String, String> org.roboy.memory.models.Update.properties: Contains the node properties.

namespace util¶

namespace org¶

namespace v1¶

namespace roboy¶

namespace memory¶

namespace models¶

namespace ros¶

namespace util¶

namespace Answer¶

namespace Config¶

namespace roboy_communication_cognition¶

file Main.java

file Create.java

file Get.java

file Header.java

file Remove.java

file Update.java

file RosNode.java

file RosRun.java

file ServiceLogic.java

file Answer.java

file Config.java

file Neo4j.java

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org/roboy/memory

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org/roboy/memory/models

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org/roboy

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org/roboy/memory/ros

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src

dir /home/docs/checkouts/readthedocs.org/user_builds/roboy-memory/checkouts/docs/src/org/roboy/memory/util