lector_vf.py

# controllers/drive_Vf/lector_vf.py

import owlready2
from owlready2 import get_ontology, sync_reasoner
# fuerza el ejecutable de Java para HermiT
owlready2.JAVA_EXE = r"C:\Program Files\Eclipse Adoptium\jdk-21.0.7.6-hotspot\bin\java.exe"
import os

ONTOLOGY_FILE = "ONTOLOGIA_vf.owl"

def get_robot_attributes():
    # 1) Cargo la ontología y razono con HermiT
    onto_path = os.path.abspath(ONTOLOGY_FILE)
    onto = get_ontology(f"file://{onto_path}").load()
    with onto:
        sync_reasoner(infer_property_values=True)

    # 2) Encuentro la clase Robot
    Robot = next((c for c in onto.classes() if c.name.lower() == "robot"), None)
    if Robot is None:
        print("[ERROR] No hay clase Robot en la ontología.")
        return []

    robot_data = []
    for r in Robot.instances():
        # Extraigo atributos básicos...
        id_val = float(r.id[0]) if getattr(r, "id", None) else None
        xpos   = float(r.xpos[0]) if getattr(r, "xpos", None) else 0.0
        ypos   = float(r.ypos[0]) if getattr(r, "ypos", None) else 0.0
        angle  = float(r.angle[0]) if getattr(r, "angle", None) else 0.0

        # Batería (sigue manual en el controlador)
        bat = r.has_battery[0] if getattr(r, "has_battery", None) else None
        battery_charge = float(bat.charge[0]) if bat and getattr(bat, "charge", None) else None

        # Motor
        eng = r.uses_engine[0] if getattr(r, "uses_engine", None) else None
        engine_name = eng.name[0]       if eng and getattr(eng, "name", None)       else None
        max_speed   = float(eng.max_speed[0])   if eng and getattr(eng, "max_speed", None)   else None
        consumption = float(eng.consumption[0]) if eng and getattr(eng, "consumption", None) else None
        engine_type = eng.type[0]       if eng and getattr(eng, "type", None)       else None

        # Task config (patrol / navigate)
        patrol_ind = r.has_patrol_config[0] if getattr(r, "has_patrol_config", None) else None
        patrol_time = float(patrol_ind.patrol_time[0]) if patrol_ind and getattr(patrol_ind, "patrol_time", None) else None
        move_distance = float(patrol_ind.move_distance[0]) if patrol_ind and getattr(patrol_ind, "move_distance", None) else None
        patrol_speed  = float(patrol_ind.patrol_speed[0])  if patrol_ind and getattr(patrol_ind, "patrol_speed", None)  else None

        nav_ind = r.has_navigate_config[0] if getattr(r, "has_navigate_config", None) else None
        target_x = float(nav_ind.target_x[0])       if nav_ind and getattr(nav_ind, "target_x", None)       else None
        target_y = float(nav_ind.target_y[0])       if nav_ind and getattr(nav_ind, "target_y", None)       else None
        navigation_speed = float(nav_ind.navigation_speed[0]) if nav_ind and getattr(nav_ind, "navigation_speed", None) else None

        # 3) Extraigo el resultado del razonamiento
        behavior = None
        if getattr(r, "behaves", None) and r.behaves:
            # tomo el nombre del estado inferido
            behavior = r.behaves[0].name

        # 4) Construyo el registro
        robot_data.append({
            "id": id_val,
            "xpos": xpos,
            "ypos": ypos,
            "angle": angle,
            "battery_charge": battery_charge,
            "engine_name": engine_name,
            "max_speed": max_speed,
            "consumption": consumption,
            "engine_type": engine_type,
            "patrol_time": patrol_time,
            "move_distance": move_distance,
            "patrol_speed": patrol_speed,
            "target_x": target_x,
            "target_y": target_y,
            "navigation_speed": navigation_speed,
            "behavior": behavior
        })

    return robot_data