# Shacl

@prefix dash: <http://datashapes.org/dash#> .
@prefix rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix schema: <http://schema.org/> .
@prefix sh: <http://www.w3.org/ns/shacl#> .
@prefix ex: <http://example.org/> .
@prefix traffic: <http://example.org/traffic#> .

ex:priority_to_right_shape a sh:NodeShape;
    sh:targetClass ex:crossroad_observation;
    sh:not [
        sh:or (
            [
                sh:path ex:observation_results ;
                sh:hasValue traffic:stop_sign1 ;
            ]
            [
                sh:path ex:observation_results ;
                sh:hasValue traffic:traffic_light1 ;
            ])
    ].

ex:Robot_Motion_Path a sh:NodeShape;
    sh:targetClass ex:Robot_Motion ;
    sh:property [
        sh:path ex:destination ;
        sh:class ex:Suggested_Stop_Position ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
    ].
    
ex:Suggested_Stop_Position_Choice a sh:NodeShape;
    sh:targetClass ex:Suggested_Stop_Position ;
    sh:property [
        sh:path ex:ideal_stop_position ;
        sh:class ex:stop_position ;
        sh:minCount 1;
        sh:maxCount 1;
        sh:in (ex:Stop_Line_Specified_Position:ideal_area ex:CV_Suggested_Stop_Position:ideal_area);
        sh:lessThan ex:CV_Suggested_Stop_Position;
        sh:lessThan ex:Stop_Line_Specified_Position;
    ].

ex:Priority_To_Right_Motion_Strategy_Wait a sh:NodeShape;
    sh:targetClass ex:Priority_To_Right_Motion_Strategy;
    sh:property [
        sh:path ex:traffic_rule ;
        sh:class ex:Traffic_Rule ;
        sh:minCount 1 ;
        sh:maxCount 1 ;
        sh:equals ex:Priority_to_Right ;
    ],
    [
        sh:path ex:Car_Perception;
        sh:minLength 1;
    ],
    [
        sh:path ex:Car_Intention_Prediction;
        sh:or ( 
            [
                sh:path ex:Intention;
                sh:hasValue ex:Turn_Left;
            ]
            [
                sh:path ex:Intention;      
                sh:hasValue ex:Move_Forward;
            ]
        )
    ].

knowledge graph

{
  "@context": {
    "brick": "https://brickschema.org/schema/Brick#",
    "csvw": "http://www.w3.org/ns/csvw#",
    "dc": "http://purl.org/dc/elements/1.1/",
    "dcam": "http://purl.org/dc/dcam/",
    "dcat": "http://www.w3.org/ns/dcat#",
    "dcmitype": "http://purl.org/dc/dcmitype/",
    "dcterms": "http://purl.org/dc/terms/",
    "doap": "http://usefulinc.com/ns/doap#",
    "ex": "http://example.org/",
    "foaf": "http://xmlns.com/foaf/0.1/",
    "odrl": "http://www.w3.org/ns/odrl/2/",
    "org": "http://www.w3.org/ns/org#",
    "owl": "http://www.w3.org/2002/07/owl#",
    "prof": "http://www.w3.org/ns/dx/prof/",
    "prov": "http://www.w3.org/ns/prov#",
    "qb": "http://purl.org/linked-data/cube#",
    "rdf": "http://www.w3.org/1999/02/22-rdf-syntax-ns#",
    "rdfs": "http://www.w3.org/2000/01/rdf-schema#",
    "schema": "https://schema.org/",
    "sh": "http://www.w3.org/ns/shacl#",
    "skos": "http://www.w3.org/2004/02/skos/core#",
    "sosa": "http://www.w3.org/ns/sosa/",
    "ssn": "http://www.w3.org/ns/ssn/",
    "time": "http://www.w3.org/2006/time#",
    "traffic": "http://example.org/traffic#",
    "traffic_rule": "http://example.org/traffic-rule#",
    "vann": "http://purl.org/vocab/vann/",
    "void": "http://rdfs.org/ns/void#",
    "xsd": "http://www.w3.org/2001/XMLSchema#"
  },
  "@graph": [
    {
      "@id": "ex:car1",
      "ex:position": {
        "@id": "ex:position1"
      },
      "ex:speed": {
        "@id": "ex:speed1"
      }
    },
    {
      "@id": "traffic:stop_sign1",
      "@type": "traffic:stop_sign",
      "ex:crossroad": {
        "@id": "ex:crossroad1"
      }
    },
    {
      "@id": "ex:area2",
      "@type": "ex:stop_position"
    },
    {
      "@id": "ex:Motion_Strategy1",
      "@type": "ex:Motion_Strategy",
      "ex:traversals": [
        {
          "@id": "ex:Relation1"
        },
        {
          "@id": "ex:Relation2"
        }
      ]
    },
    {
      "@id": "ex:crossroad_observation1",
      "@type": "ex:crossroad_observation",
      "ex:crossroad": {
        "@id": "ex:crossroad1"
      },
      "ex:observation_results": [
        {
          "@id": "traffic:stop_sign1"
        },
        {
          "@id": "traffic:traffic_light1"
        }
      ]
    },
    {
      "@id": "ex:Car_Intention_Prediction",
      "@type": "ex:Car_Intention_Prediction",
      "ex:Blinker_Detection": {
        "@id": "ex:Blinker_Detection1"
      },
      "ex:intention": {
        "@id": "ex:turn_left"
      }
    },
    {
      "@id": "ex:area1",
      "@type": "ex:stop_position"
    },
    {
      "@id": "ex:Robot_Base_Motion_in_Cross1",
      "@type": "ex:Robot_Base_Motion_in_Cross",
      "ex:Robot": {
        "@id": "ex:Robot_A"
      },
      "ex:Suggested_Time_Cost": 600,
      "ex:crossroad": {
        "@id": "ex:crossroad_A"
      }
    },
    {
      "@id": "ex:CV_Suggested_Stop_Position1",
      "@type": "ex:CV_Suggested_Stop_Position",
      "ex:Robot_Perception_System": {
        "@id": "ex:Robot_Perception_System1"
      }
    },
    {
      "@id": "ex:Stop_Line_Specified_Position1",
      "@type": "ex:Stop_Line_Specified_Position",
      "ex:CV_Stop_Line_Specified_Position": {
        "@id": "ex:area2"
      },
      "ex:Robot_Perception_System": {
        "@id": "ex:Robot_Perception_System1"
      }
    },
    {
      "@id": "ex:Car_Perception_A",
      "@type": "ex:Car_Perception",
      "ex:Identified_Cars": {
        "@id": "ex:car1"
      },
      "ex:on_the_right": {
        "@id": "ex:on_the_right_A"
      }
    },
    {
      "@id": "traffic:traffic_light1",
      "@type": "traffic:traffic_light",
      "ex:crossroad": {
        "@id": "ex:crossroad1"
      }
    }
  ]
}