PrologEngine.h

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/*
 * This file is part of KnowRob, please consult
 * https://github.com/knowrob/knowrob for license details.
 */
 
#ifndef KNOWROB_PROLOG_THREAD_POOL_H_
#define KNOWROB_PROLOG_THREAD_POOL_H_
 
#include "filesystem"
#include "knowrob/ThreadPool.h"
#include "PrologTerm.h"
 
namespace knowrob {
    class PrologEngine : public ThreadPool {
    public:
        using ErrorHandler = ThreadPool::ExceptionHandler;
        using GoalFactory = std::function<PrologTerm()>;
        using Solution = std::map<Variable, TermPtr, std::less<>>;
 
        explicit PrologEngine(uint32_t maxNumThreads = 0);
 
        static void initializeProlog();
 
        static void finalizeProlog();
 
        static bool isPrologInitialized() { return isPrologInitialized_; }
 
        static bool eval(const GoalFactory &goalFactory);
 
        static std::optional<Solution> oneSolution(const GoalFactory &goalFactory);
 
        static std::vector<Solution> allSolutions(const GoalFactory &goalFactory);
 
        static void query(const GoalFactory &goalFactory, const BindingsHandler &callback);
 
        static bool consult(const std::filesystem::path &uri, const char *module = {});
 
        static void pushGoal(const std::shared_ptr<ThreadPool::Runner> &goal, const ErrorHandler &errHandler);
 
        static void pushGoalAndJoin(const std::shared_ptr<ThreadPool::Runner> &goal);
 
        static std::filesystem::path getPrologPath(const std::filesystem::path &filename);
 
        static std::filesystem::path getResourcePath(const std::filesystem::path &filename);
 
    protected:
        static bool isPrologInitialized_;
        static std::vector<std::string> arguments_;
        static std::optional<PrologEngine> self_;
 
        // Override ThreadPool
        bool initializeWorker() override;
 
        static void expandSearchPaths();
    };
}
 
#define PROLOG_ENGINE_EVAL(term) PrologEngine::eval([&]() { return term; })
#define PROLOG_ENGINE_ONE_SOL(term) PrologEngine::oneSolution([&]() { return term; })
#define PROLOG_ENGINE_ALL_SOL(term) PrologEngine::allSolutions([&]() { return term; })
#define PROLOG_ENGINE_QUERY(term, callback) PrologEngine::query([&]() { return term; }, callback)
 
#endif //KNOWROB_PROLOG_THREAD_POOL_H_