The obvious thing to do is what all other answers advised. Edit import file. I would do that, too.
However, as a proof of concept, here are two ways to accomplish this without additional tools.
1) General solution
CREATE OR REPLACE FUNCTION f_import_file(OUT my_count integer)
RETURNS integer AS
$BODY$
DECLARE
myfile text; -- read xml file into that var.
datafile text := '\path\to\file.txt'; -- !pg_read_file only accepts relative path in database dir!
BEGIN
myfile := pg_read_file(datafile, 0, 100000000); -- arbitrary 100 MB max.
INSERT INTO public.my_tbl
SELECT ('(' || regexp_split_to_table(replace(myfile, '~,~', ','), E'\n') || ')')::public.my_tbl;
-- !depending on file format, you might need additional quotes to create a valid format.
GET DIAGNOSTICS my_count = ROW_COUNT;
END;
$BODY$
LANGUAGE plpgsql VOLATILE;
This uses a number of pretty advanced features. If anybody is actually interested and needs an explanation, leave a comment to this post and I will elaborate.
2) Special case
If you can guarantee that '~' is only present in the delimiter '~,~', then you can go ahead with a plain COPY in this special case. Just treat ',' in '~,~' as an additional columns.
Say, your table looks like this:
CREATE TABLE foo (a int, b int, c int);
Then you can (in one transaction):
CREATE TEMP TABLE foo_tmp ON COMMIT DROP (
a int, tmp1 "char"
,b int, tmp2 "char"
,c int);
COPY foo_tmp FROM '\path\to\file.txt' WITH DELIMITER AS '~';
ALTER TABLE foo_tmp DROP COLUMN tmp1;
ALTER TABLE foo_tmp DROP COLUMN tmp2;
INSERT INTO foo SELECT * FROM foo_tmp;