1 files changed, 68 insertions, 0 deletions
diff --git a/src/vrepFfi.cpp b/src/vrepFfi.cpp
new file mode 100644
index 0000000..4641bbf
--- /dev/null
+++ b/src/vrepFfi.cpp
@@ -0,0 +1,68 @@
+/* vrepFfi.cpp -- exposing functions to 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 <cstring>
+
+#include <string>
+
+#include "vrepFfi.h"
+
+namespace vrep {
+
+    // Extracting Lua arguments from the callback structure //
+
+    LuaCall::LuaCall(SLuaCallBack *simCall)
+        : simCall(simCall), argIdx(0), cursorBool(simCall->inputBool),
+          cursorInt(simCall->inputInt), cursorFloat(simCall->inputFloat),
+          cursorChar(simCall->inputChar) {
+    }
+
+    void LuaCall::ensureNextArgType(const int expected) {
+        const int nextType = simCall->inputArgTypeAndSize[2 * argIdx];
+        if (nextType != expected) {
+            throw MarshalingError("unexpected Lua argument (expected type "
+                                  + std::to_string(expected)
+                                  + ", got type "
+                                  + std::to_string(nextType)
+                                  + ")");
+        }
+    }
+
+    template<>
+    std::string LuaCall::unsafeGetAtom() {
+        // Determine how long the string is.  Lua uses '@' as its sentinel.
+        size_t len;
+        simChar *sentinel = std::strchr(cursorChar, '@');
+        if (sentinel) {
+            len = sentinel - cursorChar;
+        } else {
+            len = std::strlen(cursorChar);
+        }
+        // Build the 'std::string'.
+        const std::string result = std::string(cursorChar, len);
+        cursorChar += len + (sentinel ? 1 : 0);
+        return result;
+    }
+
+}