/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program 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 2 of the License, or
     (at your option) any later version.

     This program 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 program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

#ifndef ARIA_wrapper_Functors_h
#define ARIA_wrapper_Functors_h

/* For Python, define ArFunctor subclasses to hold Python C library
 * callable function objects.  These are used internally by the 
 * wrapper library, and typemaps convert target-language function 
 * objects to these ArFunctor subclasses-- you only need to pass
 * the function to Aria when in the C++ API you would pass a Functor.
 *
 * For Java, define subclasses of ArFunctor for various argument types,
 * since you can't access template classes in Java.  Then you can 
 * further subclass within Java and pass that object to Aria.
 */

#include "ArFunctor.h"

/* Functiors for Python: */

#ifdef SWIGPYTHON
class ArPyFunctor : public ArFunctor 
{
protected:
  PyObject* pyFunction;
public:
  ArPyFunctor(PyObject* _m) : pyFunction(_m) {
    Py_INCREF(pyFunction);
  }

  virtual void invoke() { 
    PyObject* r = PyObject_CallObject(pyFunction, NULL);
    if(!r) {
      fputs("** ArPyFunctor: Error calling Python function: ", stderr);
      PyErr_Print();
    }
  }

  virtual ~ArPyFunctor() {
    Py_DECREF(pyFunction);
  }

  virtual const char* getName() {
    return (const char*) PyString_AsString(PyObject_Str(pyFunction));
  }
};


class ArPyRetFunctor_Bool : 
  public ArRetFunctor<bool>,
  public ArPyFunctor
{
public:
  ArPyRetFunctor_Bool(PyObject* _m) : ArRetFunctor<bool>(), ArPyFunctor(_m) {
  }

  virtual bool invokeR() {
    PyObject* r = PyObject_CallObject(pyFunction, NULL);  
    if(!r) {
      fputs("** ArPyRetFunctor_Bool: Error calling Python function: ", stderr);
      PyErr_Print();
    }
    return(r == Py_True);
  }

  virtual const char* getName() {
    return (const char*) PyString_AsString(PyObject_Str(pyFunction));
  }
};

#endif // PYTHON




#endif // wrapperFunctors.h