DataSourceHandler.cpp

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#include "knowrob/DataSourceHandler.h"
#include "knowrob/integration/python/utils.h"
 
using namespace knowrob;
 
void
DataSourceHandler::addDataHandler(const std::string &format, const std::function<bool(const DataSourcePtr &)> &fn) {
    dataSourceHandler_[format] = fn;
}
 
bool DataSourceHandler::loadDataSource(const DataSourcePtr &dataSource) {
    if (dataSource->format().empty()) {
        return loadDataSourceWithUnknownFormat(dataSource);
    } else {
        auto it = dataSourceHandler_.find(dataSource->format());
        if (it != dataSourceHandler_.end()) {
            return it->second(dataSource);
        } else {
            return false;
        }
    }
}
 
bool DataSourceHandler::hasDataHandler(const DataSourcePtr &dataSource) const {
    return dataSourceHandler_.find(dataSource->format()) != dataSourceHandler_.end();
}
 
namespace knowrob::py {
    template<>
    void createType<DataSourceHandler>() {
        using namespace boost::python;
        class_<DataSourceHandler, std::shared_ptr<DataSourceHandler>>("DataSourceHandler", init<>())
                .def("addDataHandler", +[]
                        (DataSourceHandler &x, const std::string &format, object &fn) {
                    // when KnowRob calls the data handler, it does not hold the GIL
                    // so we need to acquire it before calling fn.
                    x.addDataHandler(format, [fn](const DataSourcePtr &dataSource) {
                        gil_lock lock;
                        return fn(dataSource);
                    });
                })
                .def("loadDataSource", &DataSourceHandler::loadDataSource);
    }
}