knowrob/src/DataSourceHandler.cpp at dev · knowrob/knowrob · GitHub

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#include "knowrob/DataSourceHandler.h"

#include "knowrob/integration/python/utils.h"

using namespace knowrob;

void

DataSourceHandler::addDataHandler(const std::string &format, const std::function<bool(const DataSourcePtr &)> &fn) {

dataSourceHandler_[format] = fn;

}

bool DataSourceHandler::loadDataSource(const DataSourcePtr &dataSource) {

if (dataSource->format().empty()) {

return loadDataSourceWithUnknownFormat(dataSource);

} else {

auto it = dataSourceHandler_.find(dataSource->format());

if (it != dataSourceHandler_.end()) {

return it->second(dataSource);

} else {

return false;

}

bool DataSourceHandler::hasDataHandler(const DataSourcePtr &dataSource) const {

return dataSourceHandler_.find(dataSource->format()) != dataSourceHandler_.end();

}

namespace knowrob::py {

template<>

void createType<DataSourceHandler>() {

using namespace boost::python;

class_<DataSourceHandler, std::shared_ptr<DataSourceHandler>>("DataSourceHandler", init<>())

.def("addDataHandler", +[]

(DataSourceHandler &x, const std::string &format, object &fn) {

// when KnowRob calls the data handler, it does not hold the GIL

// so we need to acquire it before calling fn.

x.addDataHandler(format, [fn](const DataSourcePtr &dataSource) {

gil_lock lock;

return fn(dataSource);

});

})

.def("loadDataSource", &DataSourceHandler::loadDataSource);

}

knowrob/src/DataSourceHandler.cpp at dev · knowrob/knowrob · GitHub

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