ReasonerManager.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_REASONER_MANAGER_H_
#define KNOWROB_REASONER_MANAGER_H_
 
#include "knowrob/plugins/PluginManager.h"
#include "knowrob/storage/StorageManager.h"
#include "knowrob/KnowledgeBase.h"
#include "knowrob/reasoner/GoalDrivenReasoner.h"
#include "knowrob/reasoner/DataDrivenReasoner.h"
 
namespace knowrob {
    class ReasonerManager : public PluginManager<Reasoner> {
    public:
        ReasonerManager(KnowledgeBase *kb, const std::shared_ptr<StorageManager> &backendManager);
 
        ~ReasonerManager() override;
 
        auto kb() const { return kb_; }
 
        auto backendManager() const { return backendManager_; }
 
        auto &goalDriven() const { return goalDriven_; }
 
        auto &dataDriven() const { return dataDriven_; }
 
        std::vector<DefiningReasoner> findDefiningReasoner(const PredicateIndicator &indicator) const;
 
        std::shared_ptr<Storage> getReasonerStorage(const std::shared_ptr<NamedReasoner> &reasoner);
 
        // override PluginManager
        std::shared_ptr<NamedReasoner> loadPlugin(const boost::property_tree::ptree &config) override;
 
        // override PluginManager
        std::shared_ptr<NamedReasoner>
        addPlugin(std::string_view reasonerID, PluginLanguage language, const std::shared_ptr<Reasoner> &reasoner) override;
 
        static TokenBufferPtr evaluateQuery(
                const GoalDrivenReasonerPtr &reasoner,
                const std::vector<FirstOrderLiteralPtr> &literals,
                const QueryContextPtr &ctx);
 
    private:
        KnowledgeBase *kb_;
        std::shared_ptr<StorageManager> backendManager_;
        // maps reasoner to their backends
        std::map<std::string_view, StoragePtr, std::less<>> reasonerBackends_;
        std::map<std::string_view, DataDrivenReasonerPtr> dataDriven_;
        std::map<std::string_view, GoalDrivenReasonerPtr> goalDriven_;
 
        void setReasonerStorage(const std::shared_ptr<NamedPlugin<Reasoner>> &plugin, const std::shared_ptr<Storage> &dataBackend);
 
        void initPlugin(const std::shared_ptr<NamedReasoner> &namedReasoner);
 
        static bool initializeReasoner(const std::shared_ptr<NamedReasoner> &namedReasoner, PropertyTree &config);
    };
}
 
// a macro for static registration of a reasoner type.
// reasoner types registered with this macro are builtin reasoners that are not
// loaded from a plugin.
#define KNOWROB_BUILTIN_REASONER(Name, Type) class Type ## _Registration{ static bool isRegistered; }; \
        bool Type ## _Registration::isRegistered = knowrob::PluginManager<knowrob::Reasoner>::addFactory<Type>(Name);
 
#endif //KNOWROB_REASONER_MANAGER_H_