✏️ ros_typedb match->fetch (v2.27.0)

ros_typedb/ros_typedb/ros_typedb_interface.py

@@ -71,13 +71,13 @@ def set_query_result_value(
     return _param_value
 
 
-def match_query_result_to_ros_msg(
+def fetch_query_result_to_ros_msg(
     query_result: list[dict[str, MatchResultDict]] | None
 ) -> ros_typedb_msgs.srv.Query.Response:
     """
-    Convert typedb match query result to :class:`ros_typedb_msgs.srv.Query`.
+    Convert typedb fetch query result to :class:`ros_typedb_msgs.srv.Query`.
 
-    :param query_result: typedb match query result.
+    :param query_result: typedb fetch query result.
     :return: converted query response.
     """
     response = Query.Response()
@@ -95,13 +95,13 @@ def match_query_result_to_ros_msg(
     return response
 
 
-def match_aggregate_query_result_to_ros_msg(
+def get_aggregate_query_result_to_ros_msg(
         query_result: int | float | None
      ) -> ros_typedb_msgs.srv.Query.Response:
     """
-    Convert match aggregate query result to :class:`ros_typedb_msgs.srv.Query`.
+    Convert get aggregate query result to :class:`ros_typedb_msgs.srv.Query`.
 
-    :param query_result: typedb match aggreate query result.
+    :param query_result: typedb get aggreate query result.
     :return: converted query response.
     """
     response = Query.Response()
@@ -114,21 +114,21 @@ def match_aggregate_query_result_to_ros_msg(
 
 
 def query_result_to_ros_msg(
-    query_type: Literal['match', 'match_aggregate'],
+    query_type: Literal['fetch', 'get_aggregate'],
     query_result: list[dict[str, MatchResultDict]] | int | float | None
 ) -> ros_typedb_msgs.srv.Query.Response:
     """
     Convert typedb query result to :class:`ros_typedb_msgs.srv.Query`.
 
-    :param query_type: query_type, e.g., 'match' or 'match_aggregate'
+    :param query_type: query_type, e.g., 'fetch' or 'get_aggregate'
     :param query_result: typedb  query result.
     :return: converted query response.
     """
     response = Query.Response()
-    if query_type == 'match':
-        response = match_query_result_to_ros_msg(query_result)
-    elif query_type == 'match_aggregate':
-        response = match_aggregate_query_result_to_ros_msg(query_result)
+    if query_type == 'fetch':
+        response = fetch_query_result_to_ros_msg(query_result)
+    elif query_type == 'get_aggregate':
+        response = get_aggregate_query_result_to_ros_msg(query_result)
     return response
 
 
@@ -264,10 +264,10 @@ def query_service_cb(
             query_func = self.typedb_interface.insert_database
         elif req.query_type == 'delete':
             query_func = self.typedb_interface.delete_from_database
-        elif req.query_type == 'match':
-            query_func = self.typedb_interface.match_database
-        elif req.query_type == 'match_aggregate':
-            query_func = self.typedb_interface.match_aggregate_database
+        elif req.query_type == 'fetch':
+            query_func = self.typedb_interface.fetch_database
+        elif req.query_type == 'get_aggregate':
+            query_func = self.typedb_interface.get_aggregate_database
         else:
             self.get_logger().warning(
                 'Query type {} not recognized'.format(req.query_type))

ros_typedb/test/test_ros_typedb_interface.py

@@ -154,15 +154,17 @@ def test_ros_typedb_delete_query(insert_query):
         query_res = node.call_service(node.query_srv, query_req)
 
         match_query_req = Query.Request()
-        match_query_req.query_type = 'match'
+        match_query_req.query_type = 'get_aggregate'
         match_query_req.query = """
             match $entity isa person, has email "test@test.com";
             get $entity;
+            count;
         """
         match_query_res = node.call_service(node.query_srv, match_query_req)
 
         assert query_res.success and match_query_res.success and \
-            len(match_query_res.attributes) == 0
+            match_query_res.attributes[0].value.type == 2 and \
+            match_query_res.attributes[0].value.integer_value == 0
     finally:
         rclpy.shutdown()
 
@@ -211,7 +213,7 @@ def test_ros_typedb_wrong_query(insert_query):
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_ros_typedb_match_query_attribute(insert_query):
+def test_ros_typedb_fetch_query_attribute(insert_query):
     rclpy.init()
     try:
         node = MakeTestNode()
@@ -221,7 +223,7 @@ def test_ros_typedb_match_query_attribute(insert_query):
         node.call_service(node.query_srv, insert_query)
 
         query_req = Query.Request()
-        query_req.query_type = 'match'
+        query_req.query_type = 'fetch'
         query_req.query = """
             match $entity isa person,
                 has email "test@test.com",
@@ -230,7 +232,7 @@ def test_ros_typedb_match_query_attribute(insert_query):
                 has height $height,
                 has alive $alive,
                 has birth-date $date;
-            get $nick, $age, $height, $alive, $date;
+            fetch $nick, $age, $height, $alive, $date;
         """
         query_res = node.call_service(node.query_srv, query_req)
 
@@ -260,7 +262,7 @@ def test_ros_typedb_match_query_attribute(insert_query):
 
 
 @pytest.mark.launch(fixture=generate_test_description)
-def test_ros_typedb_match_aggregate_query(insert_query):
+def test_ros_typedb_get_aggregate_query(insert_query):
     rclpy.init()
     try:
         node = MakeTestNode()
@@ -270,7 +272,7 @@ def test_ros_typedb_match_aggregate_query(insert_query):
         node.call_service(node.query_srv, insert_query)
 
         query_req = Query.Request()
-        query_req.query_type = 'match_aggregate'
+        query_req.query_type = 'get_aggregate'
         query_req.query = """
             match
                 $person isa person,