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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
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