PrologReasoner.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_PROLOG_REASONER_H_
#define KNOWROB_PROLOG_REASONER_H_
 
// STD
#include <string>
#include <list>
#include <filesystem>
#include <map>
#include <memory>
// gtest
#include <gtest/gtest.h>
// KnowRob
#include "knowrob/ThreadPool.h"
#include "knowrob/terms/Term.h"
#include "knowrob/integration/prolog/PrologEngine.h"
#include "knowrob/queries/AnswerYes.h"
#include "knowrob/integration/prolog/PrologBackend.h"
#include "knowrob/queries/AnswerNo.h"
#include "knowrob/reasoner/GoalDrivenReasoner.h"
 
namespace knowrob {
    class PrologReasoner : public GoalDrivenReasoner {
    public:
        PrologReasoner();
 
        ~PrologReasoner() override;
 
        PrologReasoner(const PrologReasoner &) = delete;
 
        bool setReasonerSetting(const TermPtr &key, const TermPtr &valueString);
 
        bool consult(const std::filesystem::path &uri, const char *module = {}, bool doTransformQuery = true);
 
        bool load_rdf_xml(const std::filesystem::path &rdfFile);
 
        virtual std::string_view callFunctor();
 
        PrologTerm transformGoal(const PrologTerm &goal);
 
        static std::shared_ptr<NamedReasoner> getDefinedReasoner(
                const term_t &t_reasonerManager, const term_t &t_reasonerModule);
 
        std::list<TermPtr> runTests(const std::string &target);
 
        // Override Reasoner
        bool initializeReasoner(const PropertyTree &cfg) override;
 
        // Override Reasoner
        bool evaluate(GoalPtr query) override;
 
        // Override Reasoner
        void unload() override;
 
    protected:
        static bool isKnowRobInitialized_;
        std::shared_ptr<PrologBackend> knowledgeGraph_;
 
        virtual bool initializeGlobalPackages() { return true; }
 
        virtual bool initializeDefaultPackages() { return true; }
 
        virtual void initializeReasonerStorage() { knowledgeGraph_ = getTypedStorage<PrologBackend>(); }
 
        bool loadDataSourceWithUnknownFormat(const DataSourcePtr &dataFile) override {
            return consult(dataFile->uri());
        };
 
        AnswerYesPtr yes(const GoalPtr &query, const PrologTerm &rdfGoal, const PrologTerm &frameTerm);
 
        AnswerNoPtr no(const GoalPtr &query);
 
        static bool putQueryFrame(PrologTerm &frameTerm, const GraphSelector &frame);
 
        static std::shared_ptr<GraphSelector> createAnswerFrame(const PrologTerm &plTerm);
 
        PrologTerm getReasonerQuery(const PrologTerm &goal);
    };
}
 
#endif //KNOWROB_PROLOG_REASONER_H_