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.h | 158 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 158 insertions(+)
 create mode 100644 src/vrepFfi.h

(limited to 'src/vrepFfi.h')

diff --git a/src/vrepFfi.h b/src/vrepFfi.h
new file mode 100644
index 0000000..0dbab1e
--- /dev/null
+++ b/src/vrepFfi.h
@@ -0,0 +1,158 @@
+/* vrepFfi.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_H_
+#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREPFFI_H_
+
+#ifdef HAVE_CONFIG_H
+#   include <config.h>
+#endif
+
+#include <cstddef>
+#include <cstring>
+
+#include <forward_list>
+#include <string>
+#include <vector>
+
+#include <v_repLib.h>
+
+#include "vrep.h"
+
+namespace vrep {
+
+    namespace {
+
+        // C-Lua type equivalences //
+
+        template<typename T, int idVal>
+        struct LuaTypeWrapper {
+            static const int id = idVal;
+            static inline T isNextArg(const SLuaCallBack *);
+        };
+
+        template<typename T>
+        struct LuaType;
+
+        template<>
+        struct LuaType<std::nullptr_t>
+            : public LuaTypeWrapper<std::nullptr_t, sim_lua_arg_nil> {
+        };
+
+        template<>
+        struct LuaType<bool> : public LuaTypeWrapper<bool, sim_lua_arg_bool> {
+            typedef simBool LuaT;
+        };
+
+        template<>
+        struct LuaType<int> : public LuaTypeWrapper<int, sim_lua_arg_int> {
+            typedef simInt LuaT;
+        };
+
+        template<>
+        struct LuaType<float>
+            : public LuaTypeWrapper<float, sim_lua_arg_float> {
+            typedef simFloat LuaT;
+        };
+
+        template<>
+        struct LuaType<std::string>
+            : public LuaTypeWrapper<std::string, sim_lua_arg_string> {
+            typedef simChar LuaT;
+       };
+
+        template<typename U>
+        struct LuaType<std::vector<U>>
+            : public LuaTypeWrapper<std::vector<U>,
+                                    sim_lua_arg_table | LuaType<U>::id> {
+            typedef typename LuaType<U>::LuaT LuaT;
+        };
+
+
+        // Converting a variadic template type to a Lua type list //
+
+        std::forward_list<int> toLuaTypes();
+
+        template<typename Car>
+        std::forward_list<int> toLuaTypes();
+
+        template<typename Car, typename Cadr, typename ...Cddr>
+        std::forward_list<int> toLuaTypes();
+    }
+
+
+    // Exposing C++ functions to Lua //
+
+    template<typename ...Args>
+    void exposeFunction(const std::string name, const std::string callTips,
+                        simVoid (*const f)(SLuaCallBack *));
+
+
+    // Extracting Lua arguments from the callback structure //
+
+    /* A class layered on 'SLuaCallBack' for handling calls from Lua into C++.
+     * Watch out--interacting with this class at all outside of a C++ function
+     * exposed to Lua will almost certainly cause undefined behavior! */
+    class LuaCall {
+    public:
+        LuaCall(SLuaCallBack *);
+
+        template<typename T>
+        T expectAtom();
+
+        template<typename T>
+        std::vector<T> expectTable();
+
+    private:
+        void ensureNextArgType(const int expected);
+
+        template<typename T>
+        T unsafeGetAtom();
+
+        template<typename T>
+        std::vector<T> unsafeGetTable();
+
+        SLuaCallBack *const simCall;
+        size_t argIdx;
+        simBool *cursorBool;
+        simInt *cursorInt;
+        simFloat *cursorFloat;
+        simChar *cursorChar;
+    };
+    template<> inline bool LuaCall::unsafeGetAtom();
+    template<> inline int LuaCall::unsafeGetAtom();
+    template<> inline float LuaCall::unsafeGetAtom();
+    template<> std::string LuaCall::unsafeGetAtom();
+
+
+    // Error handling //
+
+    // An error signaling a failed marshal from Lua to C++.
+    class MarshalingError : public Error {
+    public:
+        explicit inline MarshalingError(const std::string &whatArg);
+        explicit inline MarshalingError(const char *whatArg);
+    };
+
+}
+
+#include "vrepFfi-inl.h"
+
+#endif
-- 
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