From a9067eb46b845f70c9282bad59fbe6e8dba0e515 Mon Sep 17 00:00:00 2001
From: Benjamin Barenblat <bbarenblat@galois.com>
Date: Fri, 20 Dec 2013 13:57:39 -0800
Subject: Initial commit

---
 src/vrepFfi-inl.h | 133 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 133 insertions(+)
 create mode 100644 src/vrepFfi-inl.h

(limited to 'src/vrepFfi-inl.h')

diff --git a/src/vrepFfi-inl.h b/src/vrepFfi-inl.h
new file mode 100644
index 0000000..554d954
--- /dev/null
+++ b/src/vrepFfi-inl.h
@@ -0,0 +1,133 @@
+/* vrepFfi-inl.h -- 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. */
+
+#ifndef PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_INL_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_INL_H_
+
+namespace vrep {
+
+    namespace {
+
+        // Converting a variadic template type to a Lua type list //
+
+        std::forward_list<int> toLuaTypes() {
+            return std::forward_list<int>();
+        }
+
+        template<typename Car>
+        std::forward_list<int> toLuaTypes() {
+            std::forward_list<int> luaTypes = toLuaTypes();
+            luaTypes.push_front(LuaType<Car>::id);
+            return luaTypes;
+        }
+
+        template<typename Car, typename Cadr, typename ...Cddr>
+        std::forward_list<int> toLuaTypes() {
+            std::forward_list<int> luaTypes = toLuaTypes<Cadr, Cddr...>();
+            luaTypes.push_front(LuaType<Car>::id);
+            return luaTypes;
+        }
+
+    }
+
+
+    // Exposing C++ functions to Lua //
+
+    template<typename ...Args>
+    void exposeFunction(const std::string name, const std::string callTips,
+                        simVoid (*const f)(SLuaCallBack *)) {
+        // Compute the Lua signature.
+        std::vector<int> luaTypes;
+        luaTypes.push_back(0);
+        for (int type : toLuaTypes<Args...>()) {
+            luaTypes.push_back(type);
+            // We just added an argument.
+            luaTypes[0]++;
+        }
+        // Register the function with Lua.
+        VREP(simRegisterCustomLuaFunction(name.c_str(), callTips.c_str(),
+                                          luaTypes.data(), f));
+    }
+
+
+    // Extracting Lua arguments from the callback structure //
+
+    template<typename T>
+    T LuaCall::expectAtom() {
+        ensureNextArgType(LuaType<T>::id);
+        const T result = unsafeGetAtom<T>();
+        argIdx++;
+        return result;
+    }
+
+    template<typename T>
+    std::vector<T> LuaCall::expectTable() {
+        ensureNextArgType(LuaType<std::vector<T>>::id);
+        const std::vector<T> result = unsafeGetTable<T>();
+        argIdx++;
+        return result;
+    }
+
+    template<typename T>
+    std::vector<T> LuaCall::unsafeGetTable() {
+        // Determine how long the table is.
+        size_t tableLen;
+        if (simCall->inputArgTypeAndSize[2 * argIdx] & sim_lua_arg_table) {
+            tableLen = simCall->inputArgTypeAndSize[2 * argIdx + 1];
+        } else {
+            tableLen = 1;
+        }
+        // Build the result.
+        std::vector<T> result(tableLen);
+        for (size_t i = 0; i < tableLen; i++) {
+            result[i] = unsafeGetAtom<T>();
+        }
+        return result;
+    }
+
+    template<>
+    bool LuaCall::unsafeGetAtom() {
+        return *cursorBool++;
+    }
+
+    template<>
+    int LuaCall::unsafeGetAtom() {
+        return *cursorInt++;
+    }
+
+    template<>
+    float LuaCall::unsafeGetAtom() {
+        return *cursorFloat++;
+    }
+
+
+    // Error handling //
+
+    MarshalingError::MarshalingError(const std::string &whatArg)
+        : Error(whatArg) {
+    }
+
+    MarshalingError::MarshalingError(const char *whatArg)
+        : MarshalingError(std::string(whatArg)) {
+    }
+
+}
+
+#endif
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