Revert "Revert "WIP: query for multiple time intervals at once""

This reverts commit 0eb1ac6.
DFKI-NI · Jan 28, 2025 · ac123c9 · ac123c9
1 parent ffd7ebb
commit ac123c9
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Showing 13 changed files with 102 additions and 97 deletions.
diff --git a/seerep_msgs/core/query.h b/seerep_msgs/core/query.h
@@ -25,7 +25,8 @@ struct Query
                            // polygon defined above
   bool inMapFrame;  // if false the query polygon is in geodetic coordinates,
                     // otherwise in map frame
-  std::optional<Timeinterval> timeinterval;  ///< only do temporal query if set
+  std::optional<std::vector<Timeinterval>>
+      timeintervals;  ///< only do temporal query if set
   std::optional<std::unordered_map<std::string, std::vector<std::string>>>
       label;  ///< only do semantic query if set
   std::optional<SparqlQuery>

diff --git a/seerep_msgs/fbs/query.fbs b/seerep_msgs/fbs/query.fbs
@@ -10,7 +10,7 @@ table Query {
   polygonSensorPosition:Polygon2D;
   fullyEncapsulated:bool;
   inMapFrame:bool;
-  timeinterval:TimeInterval;
+  timeintervals:[TimeInterval];
   label:[LabelCategory];
   sparqlQuery:SparqlQuery;
   ontologyURI:string;

diff --git a/seerep_msgs/protos/query.proto b/seerep_msgs/protos/query.proto
@@ -11,7 +11,7 @@ message Query
   Polygon2D polygon = 1;
   bool fullyEncapsulated = 2;
   bool inMapFrame = 3;
-  TimeInterval timeinterval = 4;
+  repeated TimeInterval timeintervals = 4;
   repeated LabelCategory labelCategory = 5;
   bool mustHaveAllLabels = 6;
   repeated string projectuuid = 7;

diff --git a/seerep_srv/seerep_core/src/core_dataset.cpp b/seerep_srv/seerep_core/src/core_dataset.cpp
@@ -143,7 +143,7 @@ CoreDataset::getData(const seerep_core_msgs::Query& query)
     }
   }
 
-  if (!query.polygon && !query.polygonSensorPos && !query.timeinterval &&
+  if (!query.polygon && !query.polygonSensorPos && !query.timeintervals &&
       !query.label && !query.instances && !query.dataUuids)
   {
     return getAllDatasetUuids(datatypeSpecifics, query.sortByTime);
@@ -335,21 +335,24 @@ std::optional<std::vector<seerep_core_msgs::AabbTimeIdPair>>
 CoreDataset::queryTemporal(std::shared_ptr<DatatypeSpecifics> datatypeSpecifics,
                            const seerep_core_msgs::Query& query)
 {
-  if (query.timeinterval)
+  if (query.timeintervals)
   {
     std::optional<std::vector<seerep_core_msgs::AabbTimeIdPair>> timetree_result =
         std::vector<seerep_core_msgs::AabbTimeIdPair>();
-    seerep_core_msgs::AabbTime aabbtime(
-        seerep_core_msgs::TimePoint(
-            ((int64_t)query.timeinterval.value().timeMin.seconds) << 32 |
-            ((uint64_t)query.timeinterval.value().timeMin.nanos)),
-        seerep_core_msgs::TimePoint(
-            ((int64_t)query.timeinterval.value().timeMax.seconds) << 32 |
-            ((uint64_t)query.timeinterval.value().timeMax.nanos)));
-
-    datatypeSpecifics->timetree.query(
-        boost::geometry::index::intersects(aabbtime),
-        std::back_inserter(timetree_result.value()));
+    for (auto timeinterval : query.timeintervals.value())
+    {
+      seerep_core_msgs::AabbTime aabbtime(
+          seerep_core_msgs::TimePoint(((int64_t)timeinterval.timeMin.seconds)
+                                          << 32 |
+                                      ((uint64_t)timeinterval.timeMin.nanos)),
+          seerep_core_msgs::TimePoint(((int64_t)timeinterval.timeMax.seconds)
+                                          << 32 |
+                                      ((uint64_t)timeinterval.timeMax.nanos)));
+
+      datatypeSpecifics->timetree.query(
+          boost::geometry::index::intersects(aabbtime),
+          std::back_inserter(timetree_result.value()));
+    }
     return timetree_result;
   }
   else

diff --git a/seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h b/seerep_srv/seerep_core_fb/include/seerep_core_fb/core_fb_conversion.h
@@ -262,9 +262,9 @@ class CoreFbConversion
    * @param query the flatbuffer query message
    * @param queryCoreTime the time in the query message in seerep core format
    */
-  static void
-  fromFbQueryTime(const seerep::fb::Query* query,
-                  std::optional<seerep_core_msgs::Timeinterval>& queryCoreTime);
+  static void fromFbQueryTime(
+      const seerep::fb::Query* query,
+      std::optional<std::vector<seerep_core_msgs::Timeinterval>>& queryCoreTime);
   /**
    * @brief extracts the WithoutData Flag of the flatbuffer query message
    * @param query the flatbuffer query message

diff --git a/seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp b/seerep_srv/seerep_core_fb/src/core_fb_conversion.cpp
@@ -37,7 +37,7 @@ CoreFbConversion::fromFb(const seerep::fb::Query* query,
   seerep_core_msgs::Query queryCore;
   queryCore.header.datatype = datatype;
 
-  fromFbQueryTime(query, queryCore.timeinterval);
+  fromFbQueryTime(query, queryCore.timeintervals);
   fromFbQueryLabel(query, queryCore.label);
   queryCore.sparqlQuery = fromFbSparqlQuery(query);
   queryCore.ontologyURI = fromFbOntologyURI(query);
@@ -520,19 +520,21 @@ void CoreFbConversion::fromFbQueryLabel(
 
 void CoreFbConversion::fromFbQueryTime(
     const seerep::fb::Query* query,
-    std::optional<seerep_core_msgs::Timeinterval>& queryCoreTime)
-{
-  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_TIMEINTERVAL))
-  {
-    queryCoreTime = seerep_core_msgs::Timeinterval();
-    queryCoreTime.value().timeMin.seconds =
-        query->timeinterval()->time_min()->seconds();
-    queryCoreTime.value().timeMax.seconds =
-        query->timeinterval()->time_max()->seconds();
-    queryCoreTime.value().timeMin.nanos =
-        query->timeinterval()->time_min()->nanos();
-    queryCoreTime.value().timeMax.nanos =
-        query->timeinterval()->time_max()->nanos();
+    std::optional<std::vector<seerep_core_msgs::Timeinterval>>& queryCoreTimes)
+{
+  if (flatbuffers::IsFieldPresent(query, seerep::fb::Query::VT_TIMEINTERVALS))
+  {
+    queryCoreTimes = std::vector<seerep_core_msgs::Timeinterval>();
+    for (auto&& timeinterval : *query->timeintervals())
+    {
+      seerep_core_msgs::Timeinterval queryCoreTime =
+          seerep_core_msgs::Timeinterval();
+      queryCoreTime.timeMin.seconds = timeinterval->time_min()->seconds();
+      queryCoreTime.timeMax.seconds = timeinterval->time_max()->seconds();
+      queryCoreTime.timeMin.nanos = timeinterval->time_min()->nanos();
+      queryCoreTime.timeMax.nanos = timeinterval->time_max()->nanos();
+      queryCoreTimes.value().push_back(queryCoreTime);
+    }
   }
 }
 

diff --git a/seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp b/seerep_srv/seerep_core_pb/src/core_pb_conversion.cpp
@@ -324,17 +324,23 @@ void CorePbConversion::fromPbLabel(const seerep::pb::Query& query,
 void CorePbConversion::fromPbTime(const seerep::pb::Query& query,
                                   seerep_core_msgs::Query& queryCore)
 {
-  if (query.timeinterval().has_time_min() && query.timeinterval().has_time_max())
+  if (query.timeintervals_size() > 0)
   {
-    queryCore.timeinterval = seerep_core_msgs::Timeinterval();
-    queryCore.timeinterval.value().timeMin.seconds =
-        query.timeinterval().time_min().seconds();
-    queryCore.timeinterval.value().timeMax.seconds =
-        query.timeinterval().time_max().seconds();
-    queryCore.timeinterval.value().timeMin.nanos =
-        query.timeinterval().time_min().nanos();
-    queryCore.timeinterval.value().timeMax.nanos =
-        query.timeinterval().time_max().nanos();
+    queryCore.timeintervals = std::vector<seerep_core_msgs::Timeinterval>();
+    for (auto&& timeinterval : query.timeintervals())
+    {
+      if (timeinterval.has_time_min() && timeinterval.has_time_max())
+      {
+        seerep_core_msgs::Timeinterval queryCoreTime =
+            seerep_core_msgs::Timeinterval();
+        queryCoreTime.timeMin.seconds = timeinterval.time_min().seconds();
+        queryCoreTime.timeMax.seconds = timeinterval.time_max().seconds();
+        queryCoreTime.timeMin.nanos = timeinterval.time_min().nanos();
+        queryCoreTime.timeMax.nanos = timeinterval.time_max().nanos();
+
+        queryCore.timeintervals.value().push_back(queryCoreTime);
+      }
+    }
   }
 }
 

diff --git a/seerep_srv/seerep_server/src/fb_image_service.cpp b/seerep_srv/seerep_server/src/fb_image_service.cpp
@@ -19,7 +19,7 @@ grpc::Status FbImageService::GetImage(
   debuginfo << "sending images with this query parameters:";
   if (requestRoot->polygon() != NULL)
   {
-    for (auto point : *requestRoot->polygon()->vertices())
+    for (auto&& point : *requestRoot->polygon()->vertices())
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -30,7 +30,7 @@ grpc::Status FbImageService::GetImage(
   }
   if (requestRoot->polygonSensorPosition() != NULL)
   {
-    for (auto point : *(requestRoot->polygonSensorPosition()->vertices()))
+    for (auto&& point : *(requestRoot->polygonSensorPosition()->vertices()))
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -40,19 +40,21 @@ grpc::Status FbImageService::GetImage(
     debuginfo << "bounding box height "
               << requestRoot->polygonSensorPosition()->height() << " /";
   }
-  if (requestRoot->timeinterval() != NULL)
+  if (requestRoot->timeintervals() != NULL)
   {
-    debuginfo << "\n time interval ("
-              << requestRoot->timeinterval()->time_min()->seconds() << "/"
-              << requestRoot->timeinterval()->time_max()->seconds() << ")";
+    for (auto&& timeinterval : *requestRoot->timeintervals())
+    {
+      debuginfo << "\n time interval (" << timeinterval->time_min()->seconds()
+                << "/" << timeinterval->time_max()->seconds() << ")";
+    }
   }
   if (requestRoot->label() != NULL)
   {
     debuginfo << "\n labels general";
-    for (auto labelCategory : *requestRoot->label())
+    for (auto&& labelCategory : *requestRoot->label())
     {
       debuginfo << "category: " << labelCategory->category()->c_str() << "; ";
-      for (auto label : *labelCategory->labels())
+      for (auto&& label : *labelCategory->labels())
       {
         debuginfo << "'" << label->label()->str() << "' ";
       }

diff --git a/seerep_srv/seerep_server/src/fb_point_cloud_service.cpp b/seerep_srv/seerep_server/src/fb_point_cloud_service.cpp
@@ -24,7 +24,7 @@ grpc::Status FbPointCloudService::GetPointCloud2(
   debuginfo << "sending point clouds with this query parameters: ";
   if (requestRoot->polygon() != NULL)
   {
-    for (auto point : *requestRoot->polygon()->vertices())
+    for (auto&& point : *requestRoot->polygon()->vertices())
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -35,7 +35,7 @@ grpc::Status FbPointCloudService::GetPointCloud2(
   }
   if (requestRoot->polygonSensorPosition() != NULL)
   {
-    for (auto point : *(requestRoot->polygonSensorPosition()->vertices()))
+    for (auto&& point : *(requestRoot->polygonSensorPosition()->vertices()))
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -45,20 +45,21 @@ grpc::Status FbPointCloudService::GetPointCloud2(
     debuginfo << "bounding box height "
               << requestRoot->polygonSensorPosition()->height() << " /";
   }
-  if (requestRoot->timeinterval() != NULL)
+  if (requestRoot->timeintervals() != NULL)
   {
-    debuginfo << "\n time interval (seconds since epoch: "
-              << requestRoot->timeinterval()->time_min()->seconds()
-              << ", nanoseconds since epoch:"
-              << requestRoot->timeinterval()->time_max()->seconds() << ")";
+    for (auto&& timeinterval : *requestRoot->timeintervals())
+    {
+      debuginfo << "\n time interval (" << timeinterval->time_min()->seconds()
+                << "/" << timeinterval->time_max()->seconds() << ")";
+    }
   }
   if (requestRoot->label() != NULL)
   {
     debuginfo << "\n labels general";
-    for (auto labelCategory : *requestRoot->label())
+    for (auto&& labelCategory : *requestRoot->label())
     {
       debuginfo << "category: " << labelCategory->category()->c_str() << "; ";
-      for (auto label : *labelCategory->labels())
+      for (auto&& label : *labelCategory->labels())
       {
         debuginfo << "'" << label->label()->str() << "' ";
       }

diff --git a/seerep_srv/seerep_server/src/fb_point_service.cpp b/seerep_srv/seerep_server/src/fb_point_service.cpp
@@ -20,7 +20,7 @@ grpc::Status FbPointService::GetPoint(
   debuginfo << "sending images with this query parameters:";
   if (requestRoot->polygon() != NULL)
   {
-    for (auto point : *requestRoot->polygon()->vertices())
+    for (auto&& point : *requestRoot->polygon()->vertices())
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") \n";
@@ -31,7 +31,7 @@ grpc::Status FbPointService::GetPoint(
   }
   if (requestRoot->polygonSensorPosition() != NULL)
   {
-    for (auto point : *(requestRoot->polygonSensorPosition()->vertices()))
+    for (auto&& point : *(requestRoot->polygonSensorPosition()->vertices()))
     {
       debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
                 << ") /";
@@ -41,19 +41,21 @@ grpc::Status FbPointService::GetPoint(
     debuginfo << "bounding box height "
               << requestRoot->polygonSensorPosition()->height() << " /";
   }
-  if (requestRoot->timeinterval() != NULL)
+  if (requestRoot->timeintervals() != NULL)
   {
-    debuginfo << "\n time interval ("
-              << requestRoot->timeinterval()->time_min()->seconds() << "/"
-              << requestRoot->timeinterval()->time_max()->seconds() << ")";
+    for (auto&& timeinterval : *requestRoot->timeintervals())
+    {
+      debuginfo << "\n time interval (" << timeinterval->time_min()->seconds()
+                << "/" << timeinterval->time_max()->seconds() << ")";
+    }
   }
   if (requestRoot->label() != NULL)
   {
     debuginfo << "\n labels general";
-    for (auto labelCategory : *requestRoot->label())
+    for (auto&& labelCategory : *requestRoot->label())
     {
       debuginfo << "category: " << labelCategory->category()->c_str() << "; ";
-      for (auto label : *labelCategory->labels())
+      for (auto&& label : *labelCategory->labels())
       {
         debuginfo << "'" << label->label()->str() << "' ";
       }
@@ -63,24 +65,6 @@ grpc::Status FbPointService::GetPoint(
   BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::info)
       << debuginfo.rdbuf();
 
-  if (requestRoot->polygon() != NULL)
-  {
-    for (auto point : *(requestRoot->polygon()->vertices()))
-    {
-      debuginfo << "bounding box vertex (" << point->x() << ", " << point->y()
-                << ") /";
-    }
-    debuginfo << "bounding box z " << requestRoot->polygon()->z() << " /";
-    debuginfo << "bounding box height " << requestRoot->polygon()->height()
-              << " /";
-  }
-  if (requestRoot->timeinterval() != NULL)
-  {
-    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::trace)
-        << "in time interval ("
-        << requestRoot->timeinterval()->time_min()->seconds() << "/"
-        << requestRoot->timeinterval()->time_max()->seconds() << ")";
-  }
   try
   {
     pointFb->getData(requestRoot, writer);

diff --git a/seerep_srv/seerep_server/src/pb_image_service.cpp b/seerep_srv/seerep_server/src/pb_image_service.cpp
@@ -14,12 +14,15 @@ PbImageService::GetImage(grpc::ServerContext* context,
 {
   (void)context;  // ignore that variable without causing warnings
   // print time bound to debug log
-  BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
-      << "sending point cloud in time interval ("
-      << request->timeinterval().time_min().seconds() << "/"
-      << request->timeinterval().time_max().seconds() << ")";
+  for (auto&& timeinterval : request->timeintervals())
+  {
+    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
+        << "sending point cloud in time interval ("
+        << timeinterval.time_min().seconds() << "/"
+        << timeinterval.time_max().seconds() << ")";
+  }
   // print polygon vertices to debug log
-  for (auto point : request->polygon().vertices())
+  for (auto&& point : request->polygon().vertices())
   {
     BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
         << "bounding box vertex (" << point.x() << ", " << point.y() << ") /";

diff --git a/seerep_srv/seerep_server/src/pb_meta_operations.cpp b/seerep_srv/seerep_server/src/pb_meta_operations.cpp
@@ -84,7 +84,7 @@ PbMetaOperations::GetProjects(grpc::ServerContext* context,
   {
     auto projectInfos = seerepCore->getProjects();
 
-    for (auto projectInfo : projectInfos)
+    for (auto&& projectInfo : projectInfos)
     {
       auto responseProjectInfo = response->add_projects();
       responseProjectInfo->set_name(projectInfo.name);

diff --git a/seerep_srv/seerep_server/src/pb_point_cloud_service.cpp b/seerep_srv/seerep_server/src/pb_point_cloud_service.cpp
@@ -14,12 +14,15 @@ grpc::Status PbPointCloudService::GetPointCloud2(
 {
   (void)context;  // ignore that variable without causing warnings
   // print time bound to debug log
-  BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
-      << "sending point cloud in time interval ("
-      << request->timeinterval().time_min().seconds() << "/"
-      << request->timeinterval().time_max().seconds() << ")";
+  for (auto&& timeinterval : request->timeintervals())
+  {
+    BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
+        << "sending point cloud in time interval ("
+        << timeinterval.time_min().seconds() << "/"
+        << timeinterval.time_max().seconds() << ")";
+  }
   // print polygon vertices to debug log
-  for (auto point : request->polygon().vertices())
+  for (auto&& point : request->polygon().vertices())
   {
     BOOST_LOG_SEV(m_logger, boost::log::trivial::severity_level::debug)
         << "bounding box vertex (" << point.x() << ", " << point.y() << ") /";