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/* 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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