ConjunctiveBroadcaster.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_ANSWER_COMBINER_H_
#define KNOWROB_ANSWER_COMBINER_H_
 
#include <mutex>
#include "TokenBroadcaster.h"
#include "Answer.h"
#include "AnswerNo.h"
 
namespace knowrob {
    class ConjunctiveBroadcaster : public TokenBroadcaster {
    public:
        explicit ConjunctiveBroadcaster(bool ignoreInconsistentAnswers = true);
 
    protected:
        // maps channel id to a set of answers in the buffer.
        // a container is used for the answers that removes duplicates.
        using AnswerMap = std::map<uint32_t, std::map<size_t, AnswerPtr>>;
 
        AnswerMap buffer_;
        std::mutex buffer_mutex_;
        bool ignoreInconsistentAnswers_;
        bool hasSolution_;
        std::vector<AnswerNoPtr> negativeAnswers_;
 
        // Override TokenBroadcaster
        void push(Channel &channel, const TokenPtr &tok) override;
 
        void genCombinations(uint32_t pushedChannelID, AnswerMap::iterator it, AnswerPtr &combinedResult);
    };
}
 
#endif //KNOWROB_ANSWER_COMBINER_H_