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/* vrep-inl.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_INL_H_
#define PPAML_VREP_AUTOMOBILE_PLUGIN_VREP_INL_H_
namespace vrep {
// class InterfaceLockGuard
InterfaceLockGuard::InterfaceLockGuard() {
lock();
}
InterfaceLockGuard::InterfaceLockGuard(const InterfaceLockGuard &other) {
copyState(other);
}
InterfaceLockGuard &InterfaceLockGuard::operator=(
const InterfaceLockGuard &other) {
copyState(other);
return *this;
}
InterfaceLockGuard::InterfaceLockGuard(InterfaceLockGuard &&other) {
moveState(other);
}
InterfaceLockGuard &InterfaceLockGuard::operator=(
InterfaceLockGuard &&other) {
moveState(other);
return *this;
}
void InterfaceLockGuard::lock() {
VREP(simLockInterface(true));
isLocked = true;
}
void InterfaceLockGuard::unlock() {
VREP(simLockInterface(false));
isLocked = false;
}
// class Error
Error::Error(const std::string &whatArg)
: std::runtime_error(whatArg) {
}
Error::Error(const char *whatArg)
: Error(std::string(whatArg)) {
}
// template<typename T> class FunctionError<T>
template<typename T>
FunctionError<T>::FunctionError(const std::string &invocation,
const T result)
: Error("V-REP function invocation "
+ invocation
+ " failed, returning "
+ std::to_string(result)) {
}
template<typename T>
FunctionError<T>::FunctionError(const char *invocation, const T result)
: FunctionError(std::string(invocation), result) {
}
// template<typename T> T checkFunction(T, const char[])
template<typename T>
T checkFunction(T result, const char invocation[]) {
if (isSuccess(result)) {
return result;
} else {
throw vrep::FunctionError<T>(invocation, result);
}
}
// template<typename T> bool isSuccess(const T)
template<>
bool isSuccess(const simInt val) {
return val != -1;
}
template<>
bool isSuccess(const simVoid *const val) {
return val != nullptr;
}
}
#endif
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