ObserverJob.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_OBSERVER_JOB_H
#define KNOWROB_OBSERVER_JOB_H
 
#include <memory>
#include "ObserverManager.h"
#include "knowrob/semweb/GraphBuiltin.h"
#include "knowrob/semweb/GraphUnion.h"
#include "knowrob/semweb/GraphSequence.h"
 
namespace knowrob {
    class ObserverJob {
    public:
        ObserverJob(const std::shared_ptr<ObserverManager> &manager,
                    const GraphQueryPtr &query,
                    const BindingsHandler &callback);
 
        ~ObserverJob();
 
        void stop();
 
        void processInsertion(const TripleContainerPtr &triples);
 
        void processRemoval(const TripleContainerPtr &triples);
 
        auto &manager() const { return manager_; }
 
    protected:
        std::shared_ptr<ObserverManager> manager_;
        GraphQueryPtr query_;
        BindingsHandler callback_;
 
        struct Node {
            std::shared_ptr<GraphPattern> pattern;
            std::vector<std::shared_ptr<GraphBuiltin>> builtins;
            std::vector<std::shared_ptr<Node>> children;
            std::vector<Node *> parents;
            std::map<size_t, BindingsPtr> solutions;
        };
        std::vector<std::shared_ptr<Node>> nodes_;
 
        using NodeParents = std::vector<std::shared_ptr<Node>>;
        NodeParents terminalNodes_;
 
        NodeParents createGraph(const std::shared_ptr<GraphTerm> &term, const NodeParents &parents);
 
        std::shared_ptr<ObserverJob::Node> createNode(const std::shared_ptr<GraphPattern> &pattern);
 
        void initializeNode(const std::shared_ptr<Node> &node);
 
        void initializeNode(const std::shared_ptr<Node> &node, const BindingsPtr &bindings);
 
        GraphQueryPtr makeQuery(const std::vector<Node *> &reverseSequence);
 
        GraphQueryPtr makeAtomicQuery(const std::shared_ptr<Node> &node, const BindingsPtr &bindings);
 
        bool matches(const Node &node, const Triple &triple);
 
        void remove(const std::shared_ptr<Node> &node, const Triple &triple);
 
        void insert(const std::shared_ptr<Node> &node, const Triple &triple);
 
        void doInsert(const std::shared_ptr<Node> &node, const BindingsPtr &newBindings);
 
        void doInsert(const std::shared_ptr<Node> &node,
            const BindingsPtr &parentBindings,
            const BindingsPtr &nodeBindings);
 
        BindingsPtr applyBuiltins(const std::shared_ptr<Node> &node, const BindingsPtr &bindings);
    };
 
} // knowrob
 
#endif //KNOWROB_OBSERVER_JOB_H