101 lines
2.9 KiB
C
101 lines
2.9 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARIA_wrapper_Functors_h
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#define ARIA_wrapper_Functors_h
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/* For Python, define ArFunctor subclasses to hold Python C library
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* callable function objects. These are used internally by the
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* wrapper library, and typemaps convert target-language function
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* objects to these ArFunctor subclasses-- you only need to pass
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* the function to Aria when in the C++ API you would pass a Functor.
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*
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* For Java, define subclasses of ArFunctor for various argument types,
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* since you can't access template classes in Java. Then you can
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* further subclass within Java and pass that object to Aria.
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*/
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#include "ArFunctor.h"
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/* Functiors for Python: */
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#ifdef SWIGPYTHON
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class ArPyFunctor : public ArFunctor
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{
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protected:
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PyObject* pyFunction;
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public:
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ArPyFunctor(PyObject* _m) : pyFunction(_m) {
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Py_INCREF(pyFunction);
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}
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virtual void invoke() {
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PyObject* r = PyObject_CallObject(pyFunction, NULL);
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if(!r) {
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fputs("** ArPyFunctor: Error calling Python function: ", stderr);
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PyErr_Print();
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}
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}
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virtual ~ArPyFunctor() {
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Py_DECREF(pyFunction);
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}
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virtual const char* getName() {
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return (const char*) PyString_AsString(PyObject_Str(pyFunction));
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}
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};
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class ArPyRetFunctor_Bool :
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public ArRetFunctor<bool>,
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public ArPyFunctor
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{
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public:
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ArPyRetFunctor_Bool(PyObject* _m) : ArRetFunctor<bool>(), ArPyFunctor(_m) {
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}
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virtual bool invokeR() {
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PyObject* r = PyObject_CallObject(pyFunction, NULL);
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if(!r) {
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fputs("** ArPyRetFunctor_Bool: Error calling Python function: ", stderr);
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PyErr_Print();
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}
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return(r == Py_True);
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}
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virtual const char* getName() {
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return (const char*) PyString_AsString(PyObject_Str(pyFunction));
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}
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};
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#endif // PYTHON
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#endif // wrapperFunctors.h
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