6  Create Parts Description

source("../../osr_common.R")

6.1 Initialize OML File

outputdir <- paste0(omlrepo,"src/oml/opencaesar.io/open-source-rover/description/assembly/")

outputfile <- paste0(outputdir, "parts.oml")
init_oml_file <- 
"description <http://opencaesar.io/open-source-rover/description/assembly/parts#> as parts {\n}\n"
cat(file=outputfile, init_oml_file)

6.2 Modeling Mechanical Parts

6.2.1 Import from github

url <- "https://raw.githubusercontent.com/nasa-jpl/open-source-rover/master/parts_list/parts_list.csv"
df_csv <- read.csv(url)

6.2.2 Tidy Data

colnames(df_csv) <- c("assembly","short name","part number","long name","link","cost","number req in assy","assembly multiplier")

6.2.3 These are parts list but its more about a shopping cart list.

The list contains “cost”, “number req in assy”, “assembly multiplier”.

“number req in assy” and “assembly” information are used to create descriptions of parts.

df_parts_list <- df_csv

# このリストがCSVオリジナル。
# ここからパーツモデルに変換する場合には、アセンブリ必要数分だけインスタンスを用意する。
# ではダッシュボードとインスタンスの関係性は？
# インスタンスの情報にコストを埋め込む？インスタンス数とパーツリストの必要数は必ずしも一致しない
# これの扱いを考える必要がある。いずれにせよインスタンスはアセンブリで必要とする数だけ必要。
# アセンブリのインスタンス数✖️"number req in assy"がパーツの総数となる。

df_instance_assembly <- data.frame(
  name = c("Body Assembly", 
           "Drive Wheel Assembly-1",
           "Drive Wheel Assembly-2",
           "Corner Wheel Assembly-1",
           "Corner Wheel Assembly-2",
           "Corner Wheel Assembly-3",
           "Corner Wheel Assembly-4",
           "Rocker Bogie Suspension Assembly-1",
           "Rocker Bogie Suspension Assembly-2",
           "Mechanical Harness"),
  instancename = c("body-assembly",
                   "drive-wheel-assembly-1",
                   "drive-wheel-assembly-2",
                   "corner-wheel-assembly-1",
                   "corner-wheel-assembly-2",
                   "corner-wheel-assembly-3",
                   "corner-wheel-assembly-4",
                   "rocker-bogie-suspension-assembly-1",
                   "rocker-bogie-suspension-assembly-2",
                   "mechanical-harness"
                  )
) %>% 
  mutate(type = "assembly") %>%
  mutate(hasDescription = "")

6.2.4 Function to generate structure:Part descriptions

generatePartDescriptions <- function(df, header, instancenameindex, index){
  
  df_in <- df
  
  text <- paste0("// ", header, "\n")
  text_instance <- ""
  text_ref <- paste0("\n", "// ref ", header, "\n")
  id_count <- 1
  type <- "structure:Part"
  
  ref_instance <- paste0("assembly:",df_in$hasAssembly[1])

  text_ref <- paste0(text_ref,
                 "  ref instance ", ref_instance, " [","\n"
                 )
  
  for (i in 1:nrow(df_in)){
    for (j in 1:df_in$num[i]) {
      id <- paste0(index, ".", formatC(id_count, width = 3, flag="0"))
      id_count <- id_count + 1
      instancekey <- paste0(df_in$instancename[i], instancenameindex, "-", j)
      text_instance <- paste0(text_instance,
                     "  instance ", instancekey, " : ", type, " [","\n",
                     "      base:hasIdentifier \"", id,"\"\n",
                     "      base:hasCanonicalName \"",df_in$name[i],"-",j,"\"\n",
                     "      base:hasShortName \"",df_in$name[i],"-",j,"\"\n",
                     "      structure:hasPartsNumber \"",df_in$partsnumber[i],"\"\n",
                     "  ]\n"
                     )
      text_ref <- paste0(text_ref,
               "        ^structure:hasPart ", instancekey,"\n"
               )
    }
  }

  text_ref <- paste0(text_ref,
                     "  ]\n\n"
                     )

  text <- paste0(text, text_instance, text_ref)
    
  return(text)
}

ref instance assembly:body-assembly [
    ^structure:hasPart 2-hole-flat-beam-2
]

6.2.5 Output OML FILE

#outputdir <- "~/Workspaces/gitlab/OSR_local/open-source-rover/src/oml/opencaesar.io/open-source-rover/description/assembly/"
#outputdir <-"./open-source-rover/src/oml/opencaesar.io/open-source-rover/description/assembly/"
# outputdir <-"./"
outputfile <- paste0(outputdir, "parts.oml")

6.3 Generate framework of parts.oml

omldescriptions <-
"description <http://opencaesar.io/open-source-rover/description/assembly/parts#> as parts {

  uses <http://imce.jpl.nasa.gov/foundation/base#> as base
  uses <http://opencaesar.io/open-source-rover/vocabulary/structure#> as ^structure
  extends <http://opencaesar.io/open-source-rover/description/assembly/assembly#> as assembly

"

6.4 For Body

key <- 1
targetassembly <- df_instance_assembly$instancename[key]
df <- df_parts_list %>% 
  filter(assembly=="body") %>%
  mutate(name = `short name`) %>%
  mutate(hasAssembly = df_instance_assembly$instancename[1]) %>%
  mutate(num = as.integer(`number req in assy`)) %>%
  mutate(partsnumber = `part number`) %>%
  select(name,hasAssembly,num,partsnumber) %>%
  mutate(instancename = c(
    "120mm-open-gorail",
    "2hole-uchannel",
    "32mm-bearing",
    "32mm-6mm-spacer-2-pack",
    "29-hole-beam",
    "41-hole-beam",
    "12-hole-beam",
    "41-hole-ubeam",
    "7-hole-flat-beam-2pack",
    "dual-block-mount",
    "90deg-threaded-gusset-4pack",
    "50mm-threaded-rod",
    "ball-linkage-2pack",
    "idler-bearing-hub",
    "plastic-hinges",
    "8mm-standoffs",
    "22mm-standoffs",
    "plastic-spacer",
    "3-5-grid-plate",
    "2-hole-flat-beam")
  )

header <- c("Part - Body")
part_instance <- generatePartDescriptions(df, header, instancenameindex="", index="P0")
omldescriptions <- paste0(omldescriptions, part_instance,"\n")

6.5 For drive-wheel-assembly-1

key <- 2
targetassembly <- df_instance_assembly$instancename[key]
df <- df_parts_list %>% 
  filter(assembly=="drive wheel") %>%
  mutate(name = `short name`) %>%
  mutate(hasAssembly = df_instance_assembly$instancename[key]) %>%
  mutate(num = as.integer(`number req in assy`)) %>%
  mutate(partsnumber = `part number`) %>%
  select(name,hasAssembly,num,partsnumber) %>%
  mutate(instancename = c(
    "wheel",
    "clamping-mount",
    "motor",
    "rex-bore-hub",
    "2-hole-u-channel")
  )
header <- c("Part - drive-wheel-assembly-1")
part_instance <- generatePartDescriptions(df, header, instancenameindex="-1", index="P1")
omldescriptions <- paste0(omldescriptions, part_instance,"\n")

6.6 For drive-wheel-assembly-2

key <- 3
targetassembly <- df_instance_assembly$instancename[key]
df <- df_parts_list %>% 
  filter(assembly=="drive wheel") %>%
  mutate(name = `short name`) %>%
  mutate(hasAssembly = df_instance_assembly$instancename[key]) %>%
  mutate(num = as.integer(`number req in assy`)) %>%
  mutate(partsnumber = `part number`) %>%
  select(name,hasAssembly,num,partsnumber) %>%
  mutate(instancename = c(
    "wheel",
    "clamping-mount",
    "motor",
    "rex-bore-hub",
    "2-hole-u-channel")
  )
header <- c("Part - drive-wheel-assembly-2")
part_instance <- generatePartDescriptions(df, header, instancenameindex="-2", index="P2")
omldescriptions <- paste0(omldescriptions, part_instance,"\n")

6.7 For corner-wheel-assembly-1/2/3/4

key <- 4
for(i in 1:4){
  targetassembly <- df_instance_assembly$instancename[key]
  df <- df_parts_list %>% 
    filter(assembly %in% c("drive wheel", "corner")) %>%
    mutate(name = `short name`) %>%
    mutate(hasAssembly = df_instance_assembly$instancename[key]) %>%
    mutate(num = as.integer(`number req in assy`)) %>%
    mutate(partsnumber = `part number`) %>%
    select(name,hasAssembly,num,partsnumber) %>%
    mutate(instancename = c(
      "wheel",
      "clamping-mount",
      "motor",
      "rex-bore-hub",
      "2-hole-u-channel",
      "144mm-gorail",
      "4-hole-u-channel")
    )
  header <- c(paste0("Part - ", targetassembly))
  part_instance <- generatePartDescriptions(df, header, instancenameindex=paste0("-", 2+i), index=paste0("P",2+i))
  omldescriptions <- paste0(omldescriptions, part_instance,"\n")
  key <- key + 1
}

6.8 For rocker-bogie-suspension-assembly-1/2

key <- 8
for(i in 1:2){
  targetassembly <- df_instance_assembly$instancename[key]
  df <- df_parts_list %>% 
    filter(assembly=="rocker bogie") %>%
    mutate(name = `short name`) %>%
    mutate(hasAssembly = df_instance_assembly$instancename[key]) %>%
    mutate(num = as.integer(`number req in assy`)) %>%
    mutate(partsnumber = `part number`) %>%
    select(name,hasAssembly,num,partsnumber) %>%
    mutate(instancename = c(
      "1-hole-uchannel",
      "servoblock",
      "servo",
      "8mm-sonic-hub",
      "flanged-bearing-2pack",
      "joint-pattern-spacer",
      "joint-8mm-shaft",
      "joint-3hole-flat-beam-2pack",
      "joint-pattern-mount",
      "steel-flat-bracket",
      "3-5-grid-plate",
      "angle-bracket",
      "96mm-open-gorail",
      "288mm-open-goRail",
      "45deg-bracket",
      "90deg-steel-bracket-2pack",
      "control-arm",
      "8mm-id-spacer-6mm-length",
      "8mm-id-spacer-4mm-length")
    )
  
  # if number of req is 0.5, we create one part instance.
  df <- df %>%
    mutate_at(vars(num), ~ ifelse(. == 0, 1, .))

  
  header <- c(paste0("Part - ", targetassembly))
  part_instance <- generatePartDescriptions(df, header, instancenameindex=paste0("-", 7+i), index=paste0("P",7+i))
  omldescriptions <- paste0(omldescriptions, part_instance,"\n")
  key <- key + 1
}

6.9 For mechanical-harness

instancenametext <- c(
"hurricane-nuts",
"wire-grommets",
"M4-washers",
"M4-uts",
"M4-locknuts",
"M4-6-button-screws",
"M4-10-button-screws",
"M4-16-button-screws",
"M4-8-socket-screws",
"M4-10-socket-screws",
"M4-12-socket-screws",
"M4-16-socket-screws",
"M4-20-socket-screws"
)

  key <- 10
  targetassembly <- df_instance_assembly$instancename[key]
  df <- df_parts_list %>% 
    filter(assembly=="general") %>%
    mutate(name = `short name`) %>%
    mutate(hasAssembly = df_instance_assembly$instancename[key]) %>%
    mutate(num = as.integer(`number req in assy`)) %>%
    mutate(partsnumber = `part number`) %>%
    select(name,hasAssembly,num,partsnumber) %>%
    mutate(instancename = instancenametext)
  header <- c(paste0("Part - ", targetassembly))
  part_instance <- generatePartDescriptions(df, header, instancenameindex=paste0("-", 10), index=paste0("P",10))
  omldescriptions <- paste0(omldescriptions, part_instance,"\n")

6.10 Generate OML File

omldescriptions <- paste0(omldescriptions,"\n}\n")
cat(file=outputfile, omldescriptions)

6.11 Validate Model

Before we check the model, add below codes to the description bundle.

    includes <http://opencaesar.io/open-source-rover/description/assembly/parts#>

oml_repository <- omlrepo
omlhashiR::oml_refresh()

[1] "kill success for pid=24476"

omlhashiR::oml_stop_Daemon(oml_repository)

[1] "Stopping Daemon(s)" "1 Daemon stopped"  

omlhashiR::oml_build(oml_repository)

 [1] "Starting a Gradle Daemon, 28 stopped Daemons could not be reused, use --status for details"
 [2] "> Task :omlZip"                                                                            
 [3] "> Task :assemble"                                                                          
 [4] "> Task :downloadDependencies UP-TO-DATE"                                                   
 [5] "> Task :omlToOwl"                                                                          
 [6] "> Task :owlReason"                                                                         
 [7] "> Task :check"                                                                             
 [8] "> Task :build"                                                                             
 [9] ""                                                                                          
[10] "BUILD SUCCESSFUL in 7s"                                                                    
[11] "4 actionable tasks: 3 executed, 1 up-to-date"                                              

omlhashiR::oml_startFuseki(oml_repository)

[1] "> Task :startFuseki UP-TO-DATE"  ""                               
[3] "BUILD SUCCESSFUL in 601ms"       "1 actionable task: 1 up-to-date"

omlhashiR::oml_owlLoad(oml_repository)

[1] "> Task :downloadDependencies UP-TO-DATE"      
[2] "> Task :omlToOwl UP-TO-DATE"                  
[3] "> Task :owlReason UP-TO-DATE"                 
[4] ""                                             
[5] "> Task :owlLoad"                              
[6] "Loaded 22 owl file(s), unloaded 0 owl file(s)"
[7] ""                                             
[8] "BUILD SUCCESSFUL in 1s"                       
[9] "4 actionable tasks: 1 executed, 3 up-to-date" 

6.12 Query

library(tansakusuR)
endpoint_url <- "http://localhost:3030/open-source-rover/sparql"

query_string <-'
PREFIX base:        <http://imce.jpl.nasa.gov/foundation/base#>
PREFIX mission:     <http://imce.jpl.nasa.gov/foundation/mission#>
PREFIX structure:   <http://opencaesar.io/open-source-rover/vocabulary/structure#>
PREFIX rdfs:        <http://www.w3.org/2000/01/rdf-schema#>

SELECT DISTINCT ?c1_localname ?c1_name ?c1_type ?c2_localname ?c2_name
WHERE {
    ?c1 a mission:Component ;
      base:hasCanonicalName ?c1_name .
    OPTIONAL{
        ?c1 base:isContainedIn ?c2 .
        OPTIONAL{
            ?c2 base:hasCanonicalName ?c2_name .
        }
    }
    # Extract the local name
    BIND(STRAFTER(STR(?c1), "#") AS ?c1_localname) .
    BIND(STRAFTER(STR(?c2), "#") AS ?c2_localname) .

    OPTIONAL {
        ?c1 a structure:System ;
            BIND("structure:System"  AS ?c1_type) .
    }    
    OPTIONAL {
        ?c1 a structure:Subsystem ;
            BIND("structure:Subsystem"  AS ?c1_type) .
    } 
    OPTIONAL {
        ?c1 a structure:Assembly ;
            BIND("structure:Assembly"  AS ?c1_type) .
    } 
    OPTIONAL {
        ?c1 a structure:Part ;
            BIND("structure:Part"  AS ?c1_type) .
    } 
}
ORDER BY ?c1_localname 
'
df_query <- tansakusuR::send_query(endpoint_url,query_string)
datatable(df_query, options = list(pageLength = 20))

df2 <- df_query %>%
  arrange(desc(c2_name))


plotCollapsibleTreeFromDataframe(df2, palette="BluYl", parent="c2_name", child="c1_name",type="c1_type")

df2<- df_query %>% 
  mutate(owner=c2_name) %>%
  mutate(name=c1_name) %>%
  select("owner","name") %>%
  arrange(desc(owner)) %>%  
  slice(-n())



library(networkD3)

networkD3::simpleNetwork(df2)

library(data.tree)
nd3 <- ToListExplicit(FromDataFrameNetwork(df2), unname = T)

networkD3::diagonalNetwork(List = nd3, fontSize = 10, opacity = 0.9)

networkD3::radialNetwork(nd3, nodeColour="seagreen")