ReasonerManager.cpp

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#include "knowrob/Logger.h"
#include "knowrob/reasoner/ReasonerManager.h"
#include "knowrob/reasoner/ReasonerError.h"
 
using namespace knowrob;
 
ReasonerManager::ReasonerManager(KnowledgeBase *kb, const std::shared_ptr<StorageManager> &backendManager)
        : PluginManager(),
          kb_(kb),
          backendManager_(backendManager) {
}
 
ReasonerManager::~ReasonerManager() {
    std::lock_guard<std::mutex> scoped_lock(staticMutex_);
    for (auto &x: pluginPool_) {
        x.second->value()->unload();
        // make sure reasoner does not interact with the manager anymore
        x.second->value()->setReasonerManager(nullptr);
    }
}
 
void ReasonerManager::setReasonerStorage(const std::shared_ptr<NamedPlugin<Reasoner>> &plugin,
                                         const std::shared_ptr<Storage> &dataBackend) {
    if (plugin->language() == PluginLanguage::PYTHON) {
        py::gil_lock acquire;
        plugin->value()->setStorage(dataBackend);
    } else {
        plugin->value()->setStorage(dataBackend);
    }
    reasonerBackends_[plugin->value()->reasonerName()->stringForm()] = dataBackend;
}
 
std::shared_ptr<Storage> ReasonerManager::getReasonerStorage(const std::shared_ptr<NamedReasoner> &reasoner) {
    auto it = reasonerBackends_.find(reasoner->name());
    if (it != reasonerBackends_.end()) {
        return it->second;
    } else {
        return nullptr;
    }
}
 
std::vector<DefiningReasoner> ReasonerManager::findDefiningReasoner(const PredicateIndicator &indicator) const {
    std::vector<DefiningReasoner> reasoners;
 
    if (indicator.arity() == 1) {
        // unary predicates can be RDF class expressions.
        // in this case we need to check the class hierarchy.
        auto rdfClass = kb_->vocabulary()->getDefinedClass(indicator.functor()->stringForm());
        if (rdfClass) {
            for (auto &x: goalDriven_) {
                for (auto &definedClassIndicator : x.second->definedClasses()) {
                    auto definedClass = kb_->vocabulary()->getDefinedClass(definedClassIndicator.functor()->stringForm());
                    if(definedClass && definedClass->isSubClassOf(rdfClass)) {
                        reasoners.push_back({x.second, definedClass->iriAtom()});
                        break;
                    }
                }
            }
            return reasoners;
        }
    }
 
    if (indicator.arity() == 2) {
        // binary predicates can be RDF properties.
        // in this case we need to check the property hierarchy.
        auto rdfProperty = kb_->vocabulary()->getDefinedProperty(indicator.functor()->stringForm());
        if (rdfProperty) {
            for (auto &x: goalDriven_) {
                for (auto &definedPropertyIndicator : x.second->definedRelations()) {
                    auto definedProperty = kb_->vocabulary()->getDefinedProperty(definedPropertyIndicator.functor()->stringForm());
                    if ( definedProperty && definedProperty->isSubPropertyOf(rdfProperty) ) {
                        reasoners.push_back({x.second, definedProperty->iriAtom()});
                        break;
                    }
                }
            }
            return reasoners;
        }
    }
 
    for (auto &x: goalDriven_) {
        if (x.second->isRelationDefined(indicator) || (indicator.arity()==1 && x.second->isClassDefined(indicator.functor()->stringForm()))) {
            reasoners.push_back({x.second, indicator.functor()});
        }
    }
    return reasoners;
}
 
std::shared_ptr<NamedReasoner> ReasonerManager::loadPlugin(const boost::property_tree::ptree &config) {
    // get a reasoner factory
    std::shared_ptr<ReasonerFactory> factory = findFactory(config);
    // make sure factory was found above
    if (!factory) throw ReasonerError("failed to load a reasoner.");
    // create a reasoner id, or use name property
    std::string reasonerID = getPluginID(factory, config);
    KB_INFO("Using reasoner `{}` with type `{}`.", reasonerID, factory->name());
 
    // create a new reasoner instance
    auto reasoner = factory->create(reasonerID);
    // reasoner need to have a reference to the reasoner manager such that
    // predicates can be defined that interact with the KB
    reasoner->value()->setReasonerManager(this);
    reasoner->value()->setReasonerName(reasonerID);
 
    auto backendName = config.get_optional<std::string>("data-backend");
    if (backendName.has_value()) {
        auto definedBackend = backendManager_->getPluginWithID(backendName.value());
        if (definedBackend) {
            setReasonerStorage(reasoner, definedBackend->value());
        } else {
            throw ReasonerError("Reasoner `{}` refers to unknown data-backend `{}`.", reasonerID, backendName.value());
        }
    } else {
        // check if reasoner implements DataBackend interface
        auto backend = std::dynamic_pointer_cast<Storage>(reasoner->value());
        if (backend) {
            setReasonerStorage(reasoner, backend);
            backendManager_->addPlugin(reasonerID, reasoner->language(), backend);
        } else {
            throw ReasonerError("Reasoner `{}` has no 'data-backend' configured.", reasonerID);
        }
    }
    auto definedReasoner = addPlugin(reasonerID, reasoner->language(), reasoner->value());
 
    PropertyTree pluginConfig(std::make_shared<boost::property_tree::ptree>(config));
    if (!initializeReasoner(reasoner, pluginConfig)) {
        KB_WARN("Reasoner `{}` failed to loadConfig.", reasonerID);
    } else {
        // load the reasoner-specific data sources.
        for (auto &dataSource: pluginConfig.dataSources()) {
            if (!reasoner->value()->loadDataSource(dataSource)) {
                KB_WARN("Reasoner `{}` failed to load data source {}.", reasonerID, dataSource->uri());
            }
        }
    }
 
    return definedReasoner;
}
 
std::shared_ptr<NamedReasoner>
ReasonerManager::addPlugin(std::string_view reasonerID, PluginLanguage language, const std::shared_ptr<Reasoner> &reasoner) {
    if (pluginPool_.find(reasonerID) != pluginPool_.end()) {
        KB_WARN("overwriting reasoner with name '{}'", reasonerID);
    }
    auto managedReasoner = std::make_shared<NamedReasoner>(reasonerID, language, reasoner);
    pluginPool_.emplace(managedReasoner->name(), managedReasoner);
    reasoner->setReasonerManager(this);
    reasoner->setReasonerName(reasonerID);
    initPlugin(managedReasoner);
    // indicate that the origin `reasonerID` is a reasoner, and thus belongs to the session
    backendManager_->vocabulary()->importHierarchy()->addDirectImport(
            backendManager_->vocabulary()->importHierarchy()->ORIGIN_REASONER, reasonerID);
 
    // check if reasoner implements DataBackend interface
    auto backend = std::dynamic_pointer_cast<Storage>(reasoner);
    if (backend) {
        setReasonerStorage(managedReasoner, backend);
        backendManager_->addPlugin(reasonerID, language, backend);
    }
 
    return managedReasoner;
}
 
bool ReasonerManager::initializeReasoner(const std::shared_ptr<NamedReasoner> &namedReasoner, PropertyTree &config) {
    if (namedReasoner->language() == PluginLanguage::PYTHON) {
        py::gil_lock acquire;
        return namedReasoner->value()->initializeReasoner(config);
    } else {
        return namedReasoner->value()->initializeReasoner(config);
    }
}
 
void ReasonerManager::initPlugin(const std::shared_ptr<NamedReasoner> &namedReasoner) {
    // initialize the reasoner language type (entering python code requires special treatment)
    namedReasoner->value()->setReasonerLanguage(namedReasoner->language());
    // check if the reasoner is data-driven
    auto dataDriven = std::dynamic_pointer_cast<DataDrivenReasoner>(namedReasoner->value());
    if (dataDriven) {
        KB_INFO("Using data-driven reasoner with id '{}'.", namedReasoner->name());
        dataDriven_[namedReasoner->name()] = dataDriven;
    }
    // check if the reasoner is goal-driven
    auto goalDriven = std::dynamic_pointer_cast<GoalDrivenReasoner>(namedReasoner->value());
    if (goalDriven) {
        KB_INFO("Using goal-driven reasoner with id '{}'.", namedReasoner->name());
        goalDriven_[namedReasoner->name()] = goalDriven;
    }
}
 
TokenBufferPtr ReasonerManager::evaluateQuery(
        const GoalDrivenReasonerPtr &reasoner,
        const std::vector<FirstOrderLiteralPtr> &literals,
        const QueryContextPtr &ctx) {
    auto reasonerRunner = std::make_shared<ReasonerRunner>();
    reasonerRunner->reasoner = reasoner;
    if(literals.size()>1) {
        auto conjunction = std::make_shared<SimpleConjunction>(literals);
        reasonerRunner->query = std::make_shared<Goal>(conjunction, ctx);
    } else if (literals.size() == 1) {
        reasonerRunner->query = std::make_shared<Goal>(literals[0], ctx);
    } else {
        throw ReasonerError("Reasoner {} received an empty query.", *reasoner->reasonerName());
    }
    KB_DEBUG("Evaluating query `{}` with reasoner \"{}\"",
            *reasonerRunner->query->formula(), *reasoner->reasonerName());
    // avoid that the exception handler keeps a reference to the reasonerRunner as
    // this would prevent the runner from being destroyed.
    auto reasonerRunnerPtr = reasonerRunner.get();
    // run reasoner in a thread
    DefaultThreadPool()->pushWork(
            reasonerRunner,
            [reasonerRunnerPtr](const std::exception &exc) {
                KB_ERROR("Reasoner {} produced an error in query evaluation. {} [{}]",
                         *reasonerRunnerPtr->reasoner->reasonerName(), exc.what(), *reasonerRunnerPtr->query->formula());
                reasonerRunnerPtr->query->finish();
            });
    // return the (incomplete) answer buffer
    return reasonerRunner->query->answerBuffer();
}