128 lines
4.1 KiB
C++
128 lines
4.1 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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/*
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* This example shows how to use adapters to use STL algorithms
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* with ARIA functors.
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* An adapter is an STL function object that calls a method pointer
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* (like &ArFunctor::invoke) on whatever object it's applied to when
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* invoked with the STL convention (which uses operator().)
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*
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* This lets you use ARIA functors in STL algorithms (which normally
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* only work on STL function objects):
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*
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* STL Algorithm -> STL Function Pointer Adapter -> ARIA Functor ->
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* ARIA Functor Target Method
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*
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*
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* Things end up looking kind of redundant
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*
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*/
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#include <string>
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#include <list>
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#include <set>
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#include <algorithm>
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#include <iostream>
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#include "Aria.h"
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/*
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This is the class that contains some methods to use as callbacks targets.
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*/
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class CallbackClass
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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 CallbackClass::callback1()
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{
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printf("Invoked callback1\n");
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}
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void CallbackClass::callback2(int i)
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{
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printf("Invoked callback2 with argument of '%d'\n", i);
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}
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bool CallbackClass::callback3(const char *str)
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{
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printf("Invoked callback3 with argument of '%s'\n", str);
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return(true);
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}
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// But not all functor targets need to be in a class:
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void globalFunction()
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{
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std::cout << "Invoked globalFunction." << std::endl;
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}
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int main()
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{
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CallbackClass cb;
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// For functors with no arguments:
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std::list<ArFunctor*> functors;
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ArFunctorC<CallbackClass> functor1(cb, &CallbackClass::callback1);
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functors.push_back(&functor1);
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functors.push_back(&functor1);
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functors.push_back(&functor1);
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std::for_each(functors.begin(), functors.end(),
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std::mem_fun(&ArFunctor::invoke));
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// For functors with arguments, give mem_fun template parameters.
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std::list<ArFunctor1<int>*> functorsWithArg;
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ArFunctor1C<CallbackClass, int> functor2(cb, &CallbackClass::callback2);
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std::mem_fun1_t<void, ArFunctor1<int>, int> f(&ArFunctor1<int>::invoke);
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functorsWithArg.push_back(&functor2);
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functorsWithArg.push_back(&functor2);
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functorsWithArg.push_back(&functor2);
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std::for_each(functorsWithArg.begin(), functorsWithArg.end(), std::bind2nd(f, 42));
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// You can use other STL algorithms if your functor returns something.
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// count_if will invoke each functor, and return the number of functor
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// invocations that returned true (in this case, 3, since they will
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// always return true)
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std::list<ArRetFunctor1<bool, const char*>*> functorsWithRet;
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ArRetFunctor1C<bool, CallbackClass, const char *>
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functor3(cb, &CallbackClass::callback3);
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std::mem_fun1_t<bool, ArRetFunctor1<bool, const char*>, const char*> rf(&ArRetFunctor1<bool, const char*>::invokeR);
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functorsWithRet.push_back(&functor3);
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functorsWithRet.push_back(&functor3);
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functorsWithRet.push_back(&functor3);
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int c = std::count_if(functorsWithRet.begin(), functorsWithRet.end(), std::bind2nd(rf, "testing"));
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std::cout << "Count=" << c << std::endl;
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return(0);
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}
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