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+/* vrep.h -- 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. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_H_
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+
+#include <stdexcept>
+#include <string>
+
+#include <v_repLib.h>
+
+/* All the convenience code lives in the 'vrep' namespace to distinguish it from
+ * the actual V-REP functions, which all are prefixed with 'sim'. */
+namespace vrep {
+
+    // A RAII wrapper for 'simLockInterface'.
+    class InterfaceLockGuard {
+    public:
+        inline InterfaceLockGuard();
+        ~InterfaceLockGuard() noexcept;
+        // Copying
+        inline InterfaceLockGuard(const InterfaceLockGuard &);
+        inline InterfaceLockGuard &operator=(const InterfaceLockGuard &);
+        // Moving
+        inline InterfaceLockGuard(InterfaceLockGuard &&);
+        inline InterfaceLockGuard &operator=(InterfaceLockGuard &&);
+
+    private:
+        inline void lock();
+        inline void unlock();
+        void copyState(const InterfaceLockGuard &);
+        void moveState(InterfaceLockGuard &);
+
+        bool isLocked;
+    };
+
+
+    // Error handling //
+
+    // The class for all errors which occur when interfacing with V-REP.
+    class Error : public std::runtime_error {
+    public:
+        explicit inline Error(const std::string &whatArg);
+        explicit inline Error(const char *whatArg);
+    };
+
+    // An error signaling a failed V-REP function invocation.
+    template<typename T>
+    class FunctionError : public Error {
+    public:
+        FunctionError(const std::string &invocation, const T result);
+        inline FunctionError(const char *invocation, const T result);
+    };
+
+/* A nice macro to convert failed V-REP function invocations to
+ * 'FunctionError's.  Simply wrap your V-REP function interface--e.g.,
+ *
+ *     simInt x = VREP(simGetIntegerParameter(foo, &bar));
+ *
+ * --and you'll be off to the races.  'x' will be assigned the result of the
+ * invocation if and only if the invocation succeeded; otherwise, a
+ * 'FunctionError' describing the failed invocation will be thrown.
+ *
+ * This needs to be a macro so that it can include the code of the failed
+ * invocation itself. */
+#define VREP(invocation) vrep::checkFunction((invocation), #invocation)
+
+    template<typename T>
+    T checkFunction(T result, const char invocation[]);
+
+    /* Returns 'true' iff the passed value signifies a successful V-REP function
+     * invocation. */
+    template<typename T>
+    inline bool isSuccess(const T);
+    template<> inline bool isSuccess(const simInt);
+    template<> inline bool isSuccess(const simVoid *);
+}
+
+#include "vrep-inl.h"
+
+#endif