1 files changed, 72 insertions, 0 deletions
diff --git a/src/vrep.cpp b/src/vrep.cpp
new file mode 100644
index 0000000..2043b45
--- /dev/null
+++ b/src/vrep.cpp
@@ -0,0 +1,72 @@
+/* vrep.cpp -- convenience code to interface with V-REP
+ * Copyright (C) 2013  Galois, Inc.
+ *
+ * This library is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This library is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this library.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
+ * or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
+ * Oregon, 97204-1622. */
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <stdexcept>
+#include <string>
+
+#include <v_repLib.h>
+
+#include "vrep.h"
+
+namespace vrep {
+
+    InterfaceLockGuard::~InterfaceLockGuard() noexcept {
+        if (isLocked) {
+            /* Throwing an exception from a destructor is a bad, bad idea.  See
+             * /More Effective C++/ #14. */
+            try {
+                unlock();
+            } catch (const Error& error) {
+                /* Unlocking failed, so we're kind of screwed at this point.  We
+                 * can't even display a dialog to the user noting the failure,
+                 * because the interface is locked! *sigh*  Just give up and do
+                 * nothing. */
+            }
+        }
+    }
+
+    void InterfaceLockGuard::copyState(const InterfaceLockGuard &other) {
+        if (isLocked) {
+            unlock();
+        }
+        if (other.isLocked) {
+            lock();
+        } else {
+            isLocked = false;
+        }
+    }
+
+    void InterfaceLockGuard::moveState(InterfaceLockGuard &other) {
+        if (isLocked) {
+            unlock();
+        }
+        if (other.isLocked) {
+            lock();
+            other.unlock();
+        } else {
+            isLocked = false;
+        }
+    }
+
+}