rosaria/Legacy/Aria/ArNetworking/include/wrapper.i

/* SWIG Wrapper for ArNetworking */

#ifdef SWIGPYTHON
%module(docstring="Python wrapper library for ArNetworking", directors="1") ArNetworkingPy
#else
# ifdef SWIGJAVA
%module(docstring="Java wrapper library for ArNetworking", directors="1") ArNetworkingJava
# else
%module(docstring="Wrapper library for ArNetworking", directors="1") ArNetworking
# endif
#endif

#ifdef SWIGIMPORTED
#warning Imported ArNetworking wrapper
#endif

%feature("autodoc", "1");
/*
%feature("directors", "1");*/ /* Enable on all classes. */

%{
#include <cstddef>
#include "Aria.h"
#include "ArNetworking.h"
#include "../include/wrapper_ExtraClasses.h"
%}
%warnfilter(451) ArUtil;


/* Import all of Aria's wrapper classes */
#ifndef SWIG_IMPORTED_ARIA
#warning ArNetworking importing ARIA wrapper configuration...
%import ../include/wrapper.i
#define SWIG_IMPORTED_ARIA 1
#endif


/* In Java, we need to import the Aria package's namespace */
%typemap(javaimports) SWIGTYPE %{import com.mobilerobots.Aria.*;%}
%pragma(java) jniclassimports=%{import com.mobilerobots.Aria.*; %}
%pragma(java) moduleimports=%{import com.mobilerobots.Aria.*; %}


/* In Java, we need to override how SWIG defines some methods in the wrappers,
 * to be public not protected (the defaut javabody typemap is defined in 
 * java.swg) so that other packages such as ArNetworking and ARNL can access them: 
 */
%typemap(javabody) SWIGTYPE %{
  private long swigCPtr;
  protected boolean swigCMemOwn;

  /* for internal use by swig only */
  public $javaclassname(long cPtr, boolean cMemoryOwn) {
    swigCMemOwn = cMemoryOwn;
    swigCPtr = cPtr;
  }

  /* for internal use by swig only */
  public static long getCPtr($javaclassname obj) {
    return (obj == null) ? 0 : obj.swigCPtr;
  }
%}

%typemap(javabody_derived) SWIGTYPE %{
  private long swigCPtr;

  /* for internal use by swig only */
  public $javaclassname(long cPtr, boolean cMemoryOwn) {
    super($imclassname.SWIG$javaclassnameUpcast(cPtr), cMemoryOwn);
    swigCPtr = cPtr;
  }

  /* for internal use by swig only */
  public static long getCPtr($javaclassname obj) {
    return (obj == null) ? 0 : obj.swigCPtr;
  }
%}


%typemap(javabody) SWIGTYPE *, SWIGTYPE &, SWIGTYPE [], SWIGTYPE (CLASS::*) %{
  private long swigCPtr;

  /* for internal use by swig only */
  public $javaclassname(long cPtr, boolean bFutureUse) {
    swigCPtr = cPtr;
  }

  protected $javaclassname() {
    swigCPtr = 0;
  }

  /* for internal use by swig only */
  public static long getCPtr($javaclassname obj) {
    return (obj == null) ? 0 : obj.swigCPtr;
  }
%}



/* In Python, use typemaps to convert functions to functors: */
#ifdef SWIGPYTHON
%{
  #include "../include/wrapper_Functors.h"

  class ArPyFunctor_ServerData : 
    public ArFunctor2<ArServerClient*, ArNetPacket*>
  {
  protected:
    PyObject *pyFunction;
  public:
    ArPyFunctor_ServerData(PyObject* _f) : 
      pyFunction(_f),
      ArFunctor2<ArServerClient*, ArNetPacket*>()
    {
      Py_INCREF(pyFunction);
    }

    ~ArPyFunctor_ServerData() {
      Py_DECREF(pyFunction);
    }

    virtual void invoke() {
      Py_FatalError("ArPyFunctor_ServerData (for <ArServerClient*, ArNetPacket*>) invoked with no arguments!");
    }

    virtual void invoke(ArServerClient *cli) {
      Py_FatalError("ArPyFunctor_ServerData must be invoked with exactly 2 arguments (ArServerClient*, ArNetPacket*), 1 given.");
    }

    virtual void invoke(ArServerClient *cli, ArNetPacket *pkt)
    {
      PyObject *args = PyTuple_New(2);
      PyObject *cliObj = SWIG_Python_NewPointerObj(cli, SWIGTYPE_p_ArServerClient, 0);
      PyObject *pktObj = SWIG_Python_NewPointerObj(pkt, SWIGTYPE_p_ArNetPacket, 0);
      PyTuple_SetItem(args, 0, cliObj);
      PyTuple_SetItem(args, 1, pktObj);
      PyObject *r = PyObject_CallObject(pyFunction, args);
      if(!r)
      {
        fputs("** ArPyFunctor_ServerData: Error calling Python function: ", stderr);
        PyErr_Print();
      }
      Py_DECREF(args);
    }

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


  class ArPyFunctor_NetPacket: 
    public ArFunctor1<ArNetPacket*>,
    ArPyFunctor
  {
  public:
    ArPyFunctor_NetPacket(PyObject* f) : ArFunctor1<ArNetPacket*>(), ArPyFunctor(f)
    {
    }

    virtual void invoke()
    {
      Py_FatalError("ArPyFonctor_NetPacket (for <ArNetPacket*>) invoked with no arguments!");
    }

    virtual void invoke(ArNetPacket* pkt)
    {
      PyObject *args = PyTuple_New(1);
      PyObject *pktObj = SWIG_Python_NewPointerObj(pkt, SWIGTYPE_p_ArNetPacket, 0);
      PyTuple_SetItem(args, 0, pktObj);
      PyObject *r = PyObject_CallObject(pyFunction, args);
      if(!r)
      {
        fputs("** ArPyFunctor_NetPacket: Error calling python function: ", stderr);
        PyErr_Print();
      }
      Py_DECREF(args);
    }

    virtual const char* getName() {
      return ArPyFunctor::getName();
    }
  };
%}


%typemap(in) ArFunctor2<ArServerClient*, ArNetPacket*>* {
  $1 = new ArPyFunctor_ServerData($input); // XXX memory leak
}

%typecheck(SWIG_TYPECHECK_POINTER) ArFunctor2<ArServerClient*, ArNetPacket*>* {
  $1 = PyCallable_Check($input);
}

%typemap(in) ArFunctor1<ArNetPacket*>* {
  $1 = new ArPyFunctor_NetPacket($input); // XXX memory leak
}

%typecheck(SWIG_TYPECHECK_POINTER) ArFunctor1<ArNetPacket*>* {
  $1 = PyCallable_Check($input);
}


#endif //SWIGPYTHON

/* But in Java, just name the functor templates and enable directors so you can subclass them: */
#ifdef SWIGJAVA
%feature("director") ArFunctor1<ArServerClient*>;
%feature("director") ArFunctor1<ArNetPacket*>;
%feature("director") ArFunctor2<ArServerClient*, ArNetPacket*>;
%template(ArFunctor_ServerClient) ArFunctor1<ArServerClient*>;
%template(ArFunctor_NetPacket) ArFunctor1<ArNetPacket*>;
%template(ArFunctor_ServerData) ArFunctor2<ArServerClient*, ArNetPacket*>;
#endif



/* include files */
/* Don't include md5.h */

/* base classes */
%include "ArNetPacket.h"
%include "ArServerBase.h"
%include "ArServerMode.h"

/* derived classes */
%include "ArClientArgUtils.h"
%include "ArClientBase.h"
%include "ArClientCommands.h"
%include "ArClientData.h"
%include "ArClientFileUtils.h"
%include "ArClientHandlerConfig.h"
%include "ArClientSimpleConnector.h"
%include "ArHybridForwarderVideo.h"
%include "ArNetPacketReceiverTcp.h"
%include "ArNetPacketReceiverUdp.h"
%include "ArNetPacketSenderTcp.h"
%include "ArServerClient.h"
%include "ArServerClientIdentifier.h"
%include "ArServerClientData.h"
%include "ArServerCommands.h"
%include "ArServerData.h"
#ifndef WIN32
%include "ArServerFileUtils.h"
#endif
%include "ArServerHandlerCamera.h"
%include "ArServerHandlerCameraCollection.h"
%include "ArServerHandlerCommMonitor.h"
%include "ArServerHandlerCommands.h"
%include "ArServerHandlerConfig.h"
%include "ArServerHandlerMap.h"
%include "ArServerHandlerMapping.h"
%include "ArServerInfoDrawings.h"
%include "ArServerInfoRobot.h"
%include "ArServerInfoSensor.h"
%include "ArServerInfoStrings.h"
%include "ArServerModeDrive.h"
%include "ArServerModeIdle.h"
%include "ArServerModeRatioDrive.h"
%include "ArServerModeStop.h"
%include "ArServerModeWander.h"
%include "ArServerSimpleCommands.h"
%include "ArServerSimpleOpener.h"
%include "ArServerUserInfo.h"

#include "../include/wrapper_ExtraClasses.h"

/* The End. */