163 lines
4.5 KiB
C++
163 lines
4.5 KiB
C++
/*
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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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#include <string>
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#include "Aria.h"
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/** @example functorExample.cpp Illustrates the use of functors
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*
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* @sa @ref functors in the ARIA overview
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*/
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/*
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This is a class that has some callback methods. Functors which refer to these
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callbacks will be passed to the DriverClass.
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*/
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class CallbackContainer
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{
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public:
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void callback1();
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void callback2(int i);
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bool callback3(const char *str);
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};
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void CallbackContainer::callback1()
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{
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printf("CallbackContainer::callback1 called.\n");
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}
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void CallbackContainer::callback2(int i)
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{
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printf("CallbackContainer::callback2 called with argument of '%d'\n", i);
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}
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bool CallbackContainer::callback3(const char *str)
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{
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printf("CallbackContainer::callback3 called with argument of '%s'.\n", str);
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return(true);
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}
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/*
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* Functors can also invoke global functions.
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*/
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void globalCallback()
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{
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printf("globalCallback() called.\n");
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}
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/*
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This is a "driver" class. It takes three functors of different types and
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will invoke the three functors. This is a typical use of
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functors: to pass information or event notifications between loosely
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coupled objects.
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*/
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class DriverClass
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{
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public:
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void invokeFunctors();
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void setCallback1(ArFunctor *func) {myFunc1=func;}
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void setCallback2(ArFunctor1<int> *func) {myFunc2=func;}
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void setCallback3(ArRetFunctor1<bool, const char *> *func) {myFunc3=func;}
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protected:
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ArFunctor *myFunc1;
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ArFunctor1<int> *myFunc2;
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ArRetFunctor1<bool, const char *> *myFunc3;
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};
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void DriverClass::invokeFunctors()
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{
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bool ret;
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printf("Invoking functor1... ");
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myFunc1->invoke();
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printf("Invoking functor2... ");
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myFunc2->invoke(23);
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/*
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For functors with return values, use invorkeR() instead of invoke()
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to get the return value. The invoke() function can also be used to invoke
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the functor, but the return value is lost. (And is a possible source
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of memory leaks if you were supposed to free a pointer returned.)
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*/
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printf("Invoking functor3... ");
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ret=myFunc3->invokeR("This is a string argument");
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if (ret)
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printf("\t-> functor3 returned 'true'\n");
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else
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printf("\t-> functor3 returned 'false'\n");
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}
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int main()
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{
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CallbackContainer cb;
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DriverClass driver;
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ArFunctorC<CallbackContainer> functor1(cb, &CallbackContainer::callback1);
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ArFunctor1C<CallbackContainer, int> functor2(cb, &CallbackContainer::callback2);
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ArRetFunctor1C<bool, CallbackContainer, const char *>
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functor3(cb, &CallbackContainer::callback3);
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driver.setCallback1(&functor1);
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driver.setCallback2(&functor2);
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driver.setCallback3(&functor3);
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driver.invokeFunctors();
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/* You can make functors that target global functions too. */
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ArGlobalFunctor globalFunctor(&globalCallback);
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printf("Invoking globalFunctor... ");
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globalFunctor.invoke();
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/* You can also include the values of arguments in an ArFunctor object, if you
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* want to use the same value in every invocation of the functor.
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*/
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ArFunctor1C<CallbackContainer, int> functor4(cb, &CallbackContainer::callback2, 42);
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printf("Invoking functor with constant argument... ");
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functor4.invoke();
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/* Functors can be downcast to parent interface classes, as long as their invocation
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* does not require arguments.
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*/
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ArFunctor* baseFunctor = &functor4;
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printf("Invoking downcast functor... ");
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baseFunctor->invoke();
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return(0);
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}
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