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/* 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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