rtt.cpp

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/*
 * Lua-RTT bindings
 *
 * (C) Copyright 2010 Markus Klotzbuecher
 * markus.klotzbuecher@mech.kuleuven.be
 * Department of Mechanical Engineering,
 * Katholieke Universiteit Leuven, Belgium.
 *
 * This library 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;
 * version 2 of the License.
 *
 * As a special exception, you may use this file as part of a free
 * software library without restriction.  Specifically, if other files
 * instantiate templates or use macros or inline functions from this
 * file, or you compile this file and link it with other files to
 * produce an executable, this file does not by itself cause the
 * resulting executable to be covered by the GNU General Public
 * License.  This exception does not however invalidate any other
 * reasons why the executable file might be covered by the GNU General
 * Public License.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place,
 * Suite 330, Boston, MA  02111-1307  USA
 */

#include "rtt.hpp"

using namespace std;
using namespace RTT;
using namespace RTT::detail;
using namespace RTT::base;
using namespace RTT::internal;

static TaskContext* __getTC(lua_State*);

#define DEBUG

#ifdef MSVC
#ifdef DEBUG
# define _DBG(fmt, ...) printf("%s:%d\t" fmt "\n", __FUNCTION__, __LINE__, __VA_ARGS__)
#else
# define _DBG(fmt, ...) do { } while(0);
#endif
#else
#ifdef DEBUG
# define _DBG(fmt, args...) printf("%s:%d\t" fmt "\n", __FUNCTION__, __LINE__, ##args)
#else
# define _DBG(fmt, args...) do { } while(0);
#endif
#endif

/*
 * Inspired by tricks from here: http://lua-users.org/wiki/DoItYourselfCppBinding
 */

/* overloading new */
void* operator new(size_t size, lua_State* L, const char* mt)
{
        void* ptr = lua_newuserdata(L, size);
        luaL_getmetatable(L, mt);
        /* assert(lua_istable(L, -1)) */  /* if you're paranoid */
        lua_setmetatable(L, -2);
        return ptr;
}

/*
 * luaM_pushobject_mt(L, "Port", InputPortInterface )(ctr_arg,...)
 * expands to
 * new(L, "Port") InputPortInterface(ctr_arg,...)
 */

#define luaM_pushobject(L, T) new(L, #T) T
#define luaM_pushobject_mt(L, MT, T) new(L, MT) T

/* return udata ptr or fail if wrong metatable */
#define luaM_checkudata(L, pos, T) reinterpret_cast<T*>(luaL_checkudata((L), (pos), #T))
#define luaM_checkudata_mt(L, pos, MT, T) reinterpret_cast<T*>(luaL_checkudata((L), (pos), MT))

/* return udata ptr or NULL if wrong metatable */
#define luaM_testudata(L, pos, T) (T*) (luaL_testudata((L), (pos), #T))
#define luaM_testudata_mt(L, pos, MT, T) (T*) (luaL_testudata((L), (pos), MT))

/*
 * boxed variants
 */

/* return boxed udata ptr or fail if wrong metatable */
#define luaM_checkudata_bx(L, pos, T) (T**) (luaL_checkudata((L), (pos), #T))
#define luaM_checkudata_mt_bx(L, pos, MT, T) (T**) (luaL_checkudata((L), (pos), MT))

/* return udata ptr or NULL if wrong metatable */
#define luaM_testudata_bx(L, pos, T) (T**) (luaL_testudata((L), (pos), #T))
#define luaM_testudata_mt_bx(L, pos, MT, T) (T**) (luaL_testudata((L), (pos), MT))

/* generate a function to push boxed pointers to lua */
#define gen_push_bxptr(name, MT, T)                        \
static void name(lua_State *L, T* ptr)                     \
{                                                          \
        T** ptrptr = (T**) lua_newuserdata(L, sizeof(T*)); \
        *ptrptr = ptr;                                     \
        luaL_getmetatable(L, MT);                          \
        lua_setmetatable(L, -2);                           \
}                                                          \

/* template for generating GC function */
template<typename T>
int GCMethod(lua_State* L)
{
        reinterpret_cast<T*>(lua_touserdata(L, 1))->~T();
        return 0;
}


/***************************************************************
 * Some generic helpers
 ***************************************************************/

/* test if userdata on position ud has metatable tname */
void* luaL_testudata (lua_State *L, int ud, const char *tname)
{
        void *p = lua_touserdata(L, ud);

        if (p == NULL)
                goto out;

        if (!lua_getmetatable(L, ud))  {
                p = NULL;
                goto out;
        }

        /* it has a MT, is it the right one? */
        lua_getfield(L, LUA_REGISTRYINDEX, tname);
        if (!lua_rawequal(L, -1, -2))
                p = NULL;

        lua_pop(L, 2);  /* remove both metatables */
 out:
        return p;
}


void push_vect_str(lua_State *L, const std::vector<std::string> &v)
{
        int key = 1;
        lua_createtable(L, v.size(), 0);

        for(vector<std::string>::const_iterator it = v.begin(); it != v.end(); ++it) {
                lua_pushstring(L, it->c_str());
                lua_rawseti(L, -2, key++);
        }
}

/* forw decl */
static DataSourceBase::shared_ptr Variable_fromlua(lua_State *L, const char* type, int valind);

/***************************************************************
 * Variable (DataSourceBase)
 ***************************************************************/

/* helper, check if two type names are alias to the same TypeInfo */
static bool __typenames_cmp(const char* type1, const char* type2)
{
        const types::TypeInfo *ti1 = types::TypeInfoRepository::Instance()->type(type1);
        const types::TypeInfo *ti2 = types::TypeInfoRepository::Instance()->type(type2);
        return ti1 == ti2;
}

/* helper, check if a dsb is of type type. Works also if dsb is known
   under an alias of type */
static bool Variable_is_a(DataSourceBase::shared_ptr dsb, const std::string & type)
{
        const types::TypeInfo *ti1 = dsb->getTypeInfo();
        const types::TypeInfo *ti2 = types::TypeInfoRepository::Instance()->type(type);
        return ti1 == ti2;
}

/* helper, check if a variable is basic, that is _tolua will succeed */
static bool __Variable_isbasic(DataSourceBase::shared_ptr dsb)
{
        if ( Variable_is_a(dsb, "bool") || Variable_is_a(dsb, "double") || Variable_is_a(dsb, "float") ||
             Variable_is_a(dsb, "uint") || Variable_is_a(dsb, "int") || Variable_is_a(dsb, "char") ||
             Variable_is_a(dsb, "string") || Variable_is_a(dsb, "void"))
                return true;
        else
                return false;
}

static int Variable_isbasic(lua_State *L)
{
        DataSourceBase::shared_ptr dsb = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr));
        lua_pushboolean(L, __Variable_isbasic(dsb));
        return 1;
}

/*
 * converts a DataSourceBase to the corresponding Lua value and pushes
 * that on the stack.
 */
static int __Variable_tolua(lua_State *L, DataSourceBase::shared_ptr dsb)
{
        DataSourceBase *ds = dsb.get();
        assert(ds);

        if(Variable_is_a(dsb, "bool")) {
                DataSource<bool>* dsb = DataSource<bool>::narrow(ds);
                if(dsb) lua_pushboolean(L, dsb->get());
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "float")) {
                DataSource<float>* dsb = DataSource<float>::narrow(ds);
                if(dsb) lua_pushnumber(L, ((lua_Number) dsb->get()));
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "double")) {
                DataSource<double>* dsb = DataSource<double>::narrow(ds);
                if(dsb) lua_pushnumber(L, ((lua_Number) dsb->get()));
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "uint")) {
                DataSource<unsigned int>* dsb = DataSource<unsigned int>::narrow(ds);
                if(dsb) lua_pushnumber(L, ((lua_Number) dsb->get()));
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "int")) {
                DataSource<int>* dsb = DataSource<int>::narrow(ds);
                if(dsb) lua_pushnumber(L, ((lua_Number) dsb->get()));
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "char")) {
                DataSource<char>* dsb = DataSource<char>::narrow(ds);
                char c = dsb->get();
                if(dsb) lua_pushlstring(L, &c, 1);
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "string")) {
                DataSource<std::string>* dsb = DataSource<std::string>::narrow(ds);
                if(dsb) lua_pushlstring(L, dsb->get().c_str(), dsb->get().size());
                else goto out_nodsb;
        } else if (Variable_is_a(dsb, "void")) {
                DataSource<void>* dsb = DataSource<void>::narrow(ds);
                if(dsb) lua_pushnil(L);
                else goto out_nodsb;
        } else {
                goto out_conv_err;
        }

        /* all ok */
        return 1;

 out_conv_err:
        luaL_error(L, "Variable.tolua: can't convert type %s", dsb->getTypeName().c_str());
        return 0;

 out_nodsb:
        luaL_error(L, "Variable.tolua: narrow failed for %s Variable", dsb->getTypeName().c_str());
        return 0;
}

static int Variable_tolua(lua_State *L)
{
        DataSourceBase::shared_ptr dsb = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr));
        return __Variable_tolua(L, dsb);
}

/*
 * this function takes a dsb and either pushes it as a Lua type if the
 * dsb is basic or otherwise as at Variable
 */
static void Variable_push_coerce(lua_State *L, DataSourceBase::shared_ptr dsb)
{
        if (__Variable_isbasic(dsb))
                __Variable_tolua(L, dsb);
        else
                luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(dsb);

}

static int Variable_getTypes(lua_State *L)
{
        push_vect_str(L, Types()->getTypes());
        return 1;
}

static int Variable_getMemberNames(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        push_vect_str(L, (*dsbp)->getMemberNames());
        return 1;
}

static int Variable_getMember(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        DataSourceBase::shared_ptr memdsb;
        const char *mem = luaL_checkstring(L, 2);

        memdsb = (*dsbp)->getMember(mem);

        if(memdsb == 0)
                lua_pushnil(L);
        else
                Variable_push_coerce(L, memdsb);
        return 1;
}

static int Variable_getMemberRaw(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        DataSourceBase::shared_ptr memdsb;
        const char *mem = luaL_checkstring(L, 2);

        memdsb = (*dsbp)->getMember(mem);

        if(memdsb == 0)
                lua_pushnil(L);
        else
                luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(memdsb);
        return 1;
}

static int Variable_update(lua_State *L)
{
        int ret;
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;
        DataSourceBase::shared_ptr self = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr));

        if ((dsbp = luaM_testudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)) != NULL)
                dsb = *dsbp;
        else
                dsb = Variable_fromlua(L, self->getType().c_str(), 2);

        ret = self->update(dsb.get());
        lua_pushboolean(L, ret);
        return 1;
}

/* create variable */
static int Variable_create(lua_State *L)
{
        const char *type;
        type = luaL_checkstring(L, 1);

        if(!strcmp(type, "void"))
                luaL_error(L, "Variable.new: can't create void variable");

        TypeInfo* ti = Types()->type(type);

        if(ti==0)
                luaL_error(L, "Variable.new: unknown type %s", type);

        luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(ti->buildValue());
        return 1;
}

/* try to convert lua value on stack at valind to DSB of type */
static DataSourceBase::shared_ptr Variable_fromlua(lua_State *L, const char* type, int valind)
{
        DataSourceBase::shared_ptr dsb;
        luaL_checkany(L, valind);
        int luatype = lua_type(L, valind);      /* type of lua variable */

        if(__typenames_cmp(type, "bool")) {
                lua_Number x;
                if(luatype == LUA_TBOOLEAN)
                        x = (lua_Number) lua_toboolean(L, valind);
                else if (luatype == LUA_TNUMBER)
                        x = lua_tonumber(L, valind);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<bool>((bool) x);

        } else if (__typenames_cmp(type, "int")) {
                lua_Number x;
                if (luatype == LUA_TNUMBER)
                        x = lua_tonumber(L, valind);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<int>(x); // (int)

        } else if (__typenames_cmp(type, "uint")) {
                lua_Number x;
                if (luatype == LUA_TNUMBER)
                        x = lua_tonumber(L, valind);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<unsigned int>((unsigned int) x);

        } else if (__typenames_cmp(type, "double")) {
                lua_Number x;
                if (luatype == LUA_TNUMBER)
                        x = lua_tonumber(L, valind);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<double>((double) x);

        } else if (__typenames_cmp(type, "float")) {
                lua_Number x;
                if (luatype == LUA_TNUMBER)
                        x = lua_tonumber(L, valind);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<float>((float) x);

        } else if (__typenames_cmp(type, "char")) {
                const char *x;
                size_t l;
                if (luatype == LUA_TSTRING)
                        x = lua_tolstring(L, valind, &l);
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<char>(x[0]);

        } else if (__typenames_cmp(type, "string")) {
                const char *x;
                if (luatype == LUA_TSTRING)
                        x = lua_tostring(L, valind); /* nonhrt */
                else
                        goto out_conv_err;

                dsb = new ValueDataSource<std::string>(x);

        } else if (luatype == LUA_TNUMBER) { /* last resort, try conversion via double */
                TypeInfo* ti = Types()->type(type);
                DataSourceBase::shared_ptr double_dsb = Variable_fromlua(L, "double", valind);
                dsb = ti->convert(double_dsb);
        } else {
                goto out_conv_err;
        }

        /* everybody happy */
        return dsb;

 out_conv_err:
        luaL_error(L, "__lua_todsb: can't convert lua %s to %s variable", lua_typename(L, luatype), type);
        return NULL;
}


static int Variable_create_ival(lua_State *L, int typeind, int valind)
{
        DataSourceBase::shared_ptr dsb;
        luaL_checkany(L, valind);
        const char* type = luaL_checkstring(L, typeind);        /* target dsb type */
        dsb = Variable_fromlua(L, type, valind);
        luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(dsb);
        return 1;
}

static int Variable_new(lua_State *L)
{
        int argc = lua_gettop(L);
        if(argc == 1)
                return Variable_create(L);
        else if(argc == 2)
                return Variable_create_ival(L, 1, 2);
        else
                luaL_error(L, "Variable.new: invalid number of args");

        return 0;
}

static int Variable_toString(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        lua_pushstring(L, ((*dsbp)->toString()).c_str());
        return 1;
}

static int Variable_getType(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        lua_pushstring(L, (*dsbp)->getType().c_str());
        return 1;
}

static int Variable_getTypeName(lua_State *L)
{
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        lua_pushstring(L, (*dsbp)->getTypeName().c_str());
        return 1;
}

static int Variable_resize(lua_State *L)
{
        int size;
        DataSourceBase::shared_ptr *dsbp = luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr);
        size = luaL_checknumber(L, 2);
        const TypeInfo *ti = (*dsbp)->getTypeInfo();
        lua_pushboolean(L, ti->resize(*dsbp, size));
        return 1;
}


/*
 * Operators
 */
static int Variable_unm(lua_State *L)
{
        types::OperatorRepository::shared_ptr opreg = types::OperatorRepository::Instance();
        DataSourceBase::shared_ptr arg = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr));
        DataSourceBase::shared_ptr res = opreg->applyUnary("-", arg.get());
        luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(res);
        return 1;
}


/* don't try this at home */
#define gen_opmet(name, op)                                     \
static int name(lua_State *L)                                   \
{                                                               \
        DataSourceBase::shared_ptr arg1 = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr)); \
        DataSourceBase::shared_ptr arg2 = *(luaM_checkudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)); \
        types::OperatorRepository::shared_ptr opreg = types::OperatorRepository::Instance(); \
        DataSourceBase *res = opreg->applyBinary(#op, arg1.get(), arg2.get()); \
        if(res == 0)                                                    \
                luaL_error(L , "%s (operator %s) failed", #name, #op);  \
        res->evaluate();                                                \
        luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(res);     \
        return 1;                                                       \
}                                                                       \

gen_opmet(Variable_add, +)
gen_opmet(Variable_sub, -)
gen_opmet(Variable_mul, *)
gen_opmet(Variable_div, /)
gen_opmet(Variable_mod, %)
gen_opmet(Variable_pow, ^)

/* these flavors convert the boolean return dsb to a lua bool */
#define gen_opmet_bool(name, op)                                \
static int name(lua_State *L)                                   \
{                                                               \
        DataSourceBase::shared_ptr arg1 = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr)); \
        DataSourceBase::shared_ptr arg2 = *(luaM_checkudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)); \
        types::OperatorRepository::shared_ptr opreg = types::OperatorRepository::Instance(); \
        DataSourceBase *res = opreg->applyBinary(#op, arg1.get(), arg2.get()); \
        if(res == 0)                                                    \
                luaL_error(L , "%s (operator %s) failed", #name, #op);  \
        res->evaluate();                                                \
        return __Variable_tolua(L, res);                                \
}                                                                       \

gen_opmet_bool(Variable_eq, ==)
gen_opmet_bool(Variable_lt, <)
gen_opmet_bool(Variable_le, <=)

static int Variable_opBinary(lua_State *L)
{
        types::OperatorRepository::shared_ptr opreg = types::OperatorRepository::Instance();
        const char *op = luaL_checkstring(L, 1);
        DataSourceBase::shared_ptr arg1 = *(luaM_checkudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr));
        DataSourceBase::shared_ptr arg2 = *(luaM_checkudata_mt(L, 3, "Variable", DataSourceBase::shared_ptr));
        DataSourceBase *res;

        res = opreg->applyBinary(op, arg1.get(), arg2.get());
        if(res == 0)
                luaL_error(L , "Variable.opBinary '%s' not applicable to args", op);

        res->evaluate();

        luaM_pushobject_mt(L, "Variable", DataSourceBase::shared_ptr)(res);
        return 1;
}

/*
 * this is a dispatcher which checks if the key is a method, otherwise
 * calls get for looking up the field. Inspired by
 * http://lua-users.org/wiki/ObjectProperties
 */
static int Variable_index(lua_State *L)
{
        const char* key = luaL_checkstring(L, 2);

        lua_getmetatable(L, 1);
        lua_getfield(L, -1, key);

        /* Either key is name of a method in the metatable */
        if(!lua_isnil(L, -1))
                return 1;

        /* ... or its a field access, so recall as self.get(self, value). */
        lua_settop(L, 2);
        return Variable_getMember(L);
}

static int Variable_newindex(lua_State *L)
{
        DataSourceBase::shared_ptr *newvalp;
        DataSourceBase::shared_ptr newval;
        DataSourceBase::shared_ptr master = *(luaM_checkudata_mt(L, 1, "Variable", DataSourceBase::shared_ptr));
        const char* member = luaL_checkstring(L, 2);

        /* get dsb to be updated: we need its type before get-or-create'ing arg3 */
        types::OperatorRepository::shared_ptr opreg = types::OperatorRepository::Instance();
        DataSourceBase::shared_ptr curval = master->getMember(member);

        if (curval == 0)
                luaL_error(L, "Variable.newindex: indexing failed, no member %s", member);

        if ((newvalp = luaM_testudata_mt(L, 3, "Variable", DataSourceBase::shared_ptr)) != NULL)
                newval = *newvalp;
        else
                newval = Variable_fromlua(L, curval->getType().c_str(), 3);

        lua_pushboolean(L, curval->update(newval.get()));
        return 1;
}

static const struct luaL_Reg Variable_f [] = {
        { "new", Variable_new },
        { "tolua", Variable_tolua },
        { "isbasic", Variable_isbasic },
        { "toString", Variable_toString },
        { "getTypes", Variable_getTypes },
        { "getType", Variable_getType },
        { "getTypeName", Variable_getTypeName },
        { "getMemberNames", Variable_getMemberNames },
        { "getMember", Variable_getMember },
        { "getMemberRaw", Variable_getMemberRaw },
        { "resize", Variable_resize },
        { "opBinary", Variable_opBinary },
        { "assign", Variable_update }, /* assign seems a better name than update */
        { "unm", Variable_unm },
        { "add", Variable_add },
        { "sub", Variable_sub },
        { "mul", Variable_mul },
        { "div", Variable_div },
        { "mod", Variable_mod },
        { "pow", Variable_pow },
        { "eq", Variable_eq },
        { "lt", Variable_lt },
        { "le", Variable_le },
        { NULL, NULL}
};

static const struct luaL_Reg Variable_m [] = {
        { "tolua", Variable_tolua },
        { "isbasic", Variable_isbasic },
        { "toString", Variable_toString },
        { "getType", Variable_getType },
        { "getTypeName", Variable_getTypeName },
        { "getMemberNames", Variable_getMemberNames },
        { "getMember", Variable_getMember },
        { "getMemberRaw", Variable_getMemberRaw },
        { "resize", Variable_resize },
        { "opBinary", Variable_opBinary },
        { "assign", Variable_update }, /* assign seems a better name than update */
        { "__unm", Variable_unm },
        { "__add", Variable_add },
        { "__sub", Variable_sub },
        { "__mul", Variable_mul },
        { "__div", Variable_div },
        { "__mod", Variable_mod },
        { "__pow", Variable_pow },
        { "__eq", Variable_eq },
        { "__lt", Variable_lt },
        { "__le", Variable_le },
        { "__index", Variable_index },
        { "__newindex", Variable_newindex },
        { "__gc", GCMethod<DataSourceBase::shared_ptr> },
        // {"__gc", Variable_gc},
        { NULL, NULL}
};


/***************************************************************
 * Property (boxed)
 ***************************************************************/

gen_push_bxptr(Property_push, "Property", PropertyBase)

static int Property_new(lua_State *L)
{
        const char *type, *name, *desc;
        PropertyBase *pb;
        int argc = lua_gettop(L);
        type = luaL_checkstring(L, 1);

        /* name and description are optional */
        name = (argc > 1) ? luaL_checkstring(L, 2) : "";
        desc = (argc > 2) ? luaL_checkstring(L, 3) : "";

        types::TypeInfo *ti = types::TypeInfoRepository::Instance()->type(type);

        if(!ti)
                luaL_error(L, "Property.new: unknown type %s", type);

        pb =  ti->buildProperty(name, desc);
        Property_push(L, pb);
        return 1;
}

static int Property_get(lua_State *L)
{
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 1, "Property", PropertyBase));
        Variable_push_coerce(L, pb->getDataSource());
        return 1;
}

static int Property_set(lua_State *L)
{
        DataSourceBase::shared_ptr newdsb;
        DataSourceBase::shared_ptr *newdsbp;
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 1, "Property", PropertyBase));

        if ((newdsbp = luaM_testudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)) != NULL)
                newdsb = *newdsbp;
        else
                newdsb = Variable_fromlua(L, pb->getTypeInfo()->getTypeName().c_str(), 2);

        DataSourceBase::shared_ptr propdsb = pb->getDataSource();
        propdsb->update(newdsb.get());
        return 1;
}

static int Property_info(lua_State *L)
{
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 1, "Property", PropertyBase));
        lua_newtable(L);
        lua_pushstring(L, "name"); lua_pushstring(L, pb->getName().c_str()); lua_rawset(L, -3);
        lua_pushstring(L, "desc"); lua_pushstring(L, pb->getDescription().c_str()); lua_rawset(L, -3);
        lua_pushstring(L, "type"); lua_pushstring(L, pb->getType().c_str()); lua_rawset(L, -3);
        return 1;
}

#if NOT_USED_YET
/*
 * Race condition if we collect properties: if we add this property to
 * a TC and our life ends before that of the TC, the property will be
 * deleted before the TaskContext.
 */
static int Property_gc(lua_State *L)
{
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 1, "Property", PropertyBase));
        delete pb;
        return 0;
}
#endif

/* only explicit destruction allowed */
static int Property_del(lua_State *L)
{
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 1, "Property", PropertyBase));
        delete pb;

        /* this prevents calling rtt methods which would cause a crash */
        luaL_getmetatable(L, "__dead__");
        lua_setmetatable(L, -2);
        return 0;
}

/* indexability of properties */
/*
 * this is a dispatcher which checks if the key is a method, otherwise
 * calls get for looking up the field. Inspired by
 * http://lua-users.org/wiki/ObjectProperties
 */
static int Property_index(lua_State *L)
{
        const char* key = luaL_checkstring(L, 2);

        lua_getmetatable(L, 1);
        lua_getfield(L, -1, key); /* this actually calls the method */

        /* Either key is name of a method in the metatable */
        if(!lua_isnil(L, -1))
                return 1;

        lua_settop(L, 2);       /* reset stack */
        Property_get(L);        /* pushes property var */
        lua_replace(L, 1);      /* replace prop with var */
        return Variable_index(L);
}

static int Property_newindex(lua_State *L)
{
        Property_get(L);
        lua_replace(L, 1);
        return Variable_newindex(L);
}

static const struct luaL_Reg Property_f [] = {
        {"new", Property_new },
        {"get", Property_get },
        {"set", Property_set },
        {"info", Property_info },
        {"delete", Property_del },
        {NULL, NULL}
};

static const struct luaL_Reg Property_m [] = {
        {"get", Property_get },
        {"set", Property_set },
        {"info", Property_info },
        // todo: shall we or not? s.o. {"__gc", Property_gc },
        {"delete", Property_del },
        {"__index", Property_index },
        {"__newindex", Property_newindex },
        {NULL, NULL}
};

/***************************************************************
 * Ports (boxed)
 ***************************************************************/

/* both input or output */
static int Port_info(lua_State *L)
{
        int arg_type;
        const char* port_type = NULL;
        PortInterface **pip;
        PortInterface *pi = NULL;

        if((pip = (PortInterface**) luaL_testudata(L, 1, "InputPort")) != NULL) {
                pi = *pip;
                port_type = "in";
        } else if((pip = (PortInterface**) luaL_testudata(L, 1, "OutputPort")) != NULL) {
                pi = *pip;
                port_type = "out";
        }
        else {
                arg_type = lua_type(L, 1);
                luaL_error(L, "Port.info: invalid argument, expected Port, got %s",
                           lua_typename(L, arg_type));
        }

        lua_newtable(L);
        lua_pushstring(L, "name"); lua_pushstring(L, pi->getName().c_str()); lua_rawset(L, -3);
        lua_pushstring(L, "desc"); lua_pushstring(L, pi->getDescription().c_str()); lua_rawset(L, -3);
        lua_pushstring(L, "connected"); lua_pushboolean(L, pi->connected()); lua_rawset(L, -3);
        lua_pushstring(L, "isLocal"); lua_pushboolean(L, pi->isLocal()); lua_rawset(L, -3);
        lua_pushstring(L, "type"); lua_pushstring(L, pi->getTypeInfo()->getTypeName().c_str()); lua_rawset(L, -3);
        lua_pushstring(L, "porttype"); lua_pushstring(L, port_type); lua_rawset(L, -3);

        return 1;
}

static int Port_connect(lua_State *L)
{
        int arg_type, ret;
        PortInterface **pip1, **pip2;
        PortInterface *pi1 = NULL;
        PortInterface *pi2 = NULL;

        if((pip1 = (PortInterface**) luaL_testudata(L, 1, "InputPort")) != NULL) {
                pi1= *pip1;
        } else if((pip1 = (PortInterface**) luaL_testudata(L, 1, "OutputPort")) != NULL) {
                pi1= *pip1;
        }
        else {
                arg_type = lua_type(L, 1);
                luaL_error(L, "Port.info: invalid argument 1, expected Port, got %s",
                           lua_typename(L, arg_type));
        }
        if((pip2 = (PortInterface**) luaL_testudata(L, 2, "InputPort")) != NULL) {
                pi2= *pip2;
        } else if((pip2 = (PortInterface**) luaL_testudata(L, 2, "OutputPort")) != NULL) {
                pi2= *pip2;
        }
        else {
                arg_type = lua_type(L, 2);
                luaL_error(L, "Port.connect: invalid argument 2, expected Port, got %s",
                           lua_typename(L, arg_type));
        }

        ret = pi1->connectTo(pi2);
        lua_pushboolean(L, ret);

        return 1;
}



/* InputPort (boxed) */

gen_push_bxptr(InputPort_push, "InputPort", InputPortInterface)

static int InputPort_new(lua_State *L)
{
        const char *type, *name, *desc;
        InputPortInterface* ipi;
        int argc = lua_gettop(L);

        type = luaL_checkstring(L, 1);

        /* name and description are optional */
        name = (argc > 1) ? luaL_checkstring(L, 2) : "";
        desc = (argc > 2) ? luaL_checkstring(L, 3) : "";

        types::TypeInfo *ti = types::TypeInfoRepository::Instance()->type(type);
        if(ti==0)
                luaL_error(L, "InputPort.new: unknown type %s", type);

        ipi = ti->inputPort(name);
        ipi->doc(desc);
        InputPort_push(L, ipi);
        return 1;
}

static int InputPort_read(lua_State *L)
{
        int ret = 1;
        InputPortInterface *ip = *(luaM_checkudata_mt_bx(L, 1, "InputPort", InputPortInterface));
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;
        FlowStatus fs;

        /* if we get don't get a DS to store the result, create one */
        if ((dsbp = luaM_testudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)) != NULL)
                dsb = *dsbp;
        else {
                dsb = ip->getTypeInfo()->buildValue();
                ret = 2;
        }

        fs = ip->read(dsb);

        if(fs == NoData) lua_pushstring(L, "NoData");
        else if (fs == NewData) lua_pushstring(L, "NewData");
        else if (fs == OldData) lua_pushstring(L, "OldData");
        else luaL_error(L, "InputPort.read: unknown FlowStatus returned");

        if(ret>1)
                Variable_push_coerce(L, dsb);

        return ret;
}

#ifdef NOT_USED_YET
static int InputPort_gc(lua_State *L)
{
        InputPortInterface *ip = *(luaM_checkudata_mt_bx(L, 1, "InputPort", InputPortInterface));
        delete ip;
        return 0;
}
#endif

/* only explicit destruction allowed */
static int InputPort_del(lua_State *L)
{
        InputPortInterface *ip = *(luaM_checkudata_mt_bx(L, 1, "InputPort", InputPortInterface));
        delete ip;

        /* this prevents calling rtt methods which would cause a crash */
        luaL_getmetatable(L, "__dead__");
        lua_setmetatable(L, -2);
        return 0;
}

static const struct luaL_Reg InputPort_f [] = {
        {"new", InputPort_new },
        {"read", InputPort_read },
        {"info", Port_info },
        {"connect", Port_connect },
        {"delete", InputPort_del },
        {NULL, NULL}
};

static const struct luaL_Reg InputPort_m [] = {
        {"read", InputPort_read },
        {"info", Port_info },
        {"delete", InputPort_del },
        {"connect", Port_connect },
        /* {"__gc", InputPort_gc }, */
        {NULL, NULL}
};

/* OutputPort */

gen_push_bxptr(OutputPort_push, "OutputPort", OutputPortInterface)


static int OutputPort_new(lua_State *L)
{
        const char *type, *name, *desc;
        OutputPortInterface* opi;
        int argc = lua_gettop(L);

        type = luaL_checkstring(L, 1);

        /* name and description are optional */
        name = (argc > 1) ? luaL_checkstring(L, 2) : "";
        desc = (argc > 2) ? luaL_checkstring(L, 3) : "";

        types::TypeInfo *ti = types::TypeInfoRepository::Instance()->type(type);

        if(ti==0)
                luaL_error(L, "OutputPort.new: unknown type %s", type);

        opi = ti->outputPort(name);
        opi->doc(desc);
        OutputPort_push(L, opi);
        return 1;
}

static int OutputPort_write(lua_State *L)
{
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;

        OutputPortInterface *op = *(luaM_checkudata_mt_bx(L, 1, "OutputPort", OutputPortInterface));

        /* fastpath: Variable argument */
        if ((dsbp = luaM_testudata_mt(L, 2, "Variable", DataSourceBase::shared_ptr)) != NULL) {
                dsb = *dsbp;
        } else  {
                /* slowpath: convert lua value to dsb */
                std::string type = op->getTypeInfo()->getTypeName();
                dsb = Variable_fromlua(L, type.c_str(), 2);
        }
        op->write(dsb);
        return 0;
}

#ifdef NOT_USED_YET
static int OutputPort_gc(lua_State *L)
{
        OutputPortInterface *op = *(luaM_checkudata_mt_bx(L, 1, "OutputPort", OutputPortInterface));
        delete op;
        return 0;
}
#endif

/* only explicit destruction allowed */
static int OutputPort_del(lua_State *L)
{
        OutputPortInterface *op = *(luaM_checkudata_mt_bx(L, 1, "OutputPort", OutputPortInterface));
        delete op;

        /* this prevents calling rtt methods which would cause a crash */
        luaL_getmetatable(L, "__dead__");
        lua_setmetatable(L, -2);
        return 0;
}

static const struct luaL_Reg OutputPort_f [] = {
        {"new", OutputPort_new },
        {"write", OutputPort_write },
        {"info", Port_info },
        {"connect", Port_connect },
        {"delete", OutputPort_del },
        {NULL, NULL}
};

static const struct luaL_Reg OutputPort_m [] = {
        {"write", OutputPort_write },
        {"info", Port_info },
        {"connect", Port_connect },
        {"delete", OutputPort_del },
        /* {"__gc", OutputPort_gc }, */
        {NULL, NULL}
};

/***************************************************************
 * Operation (boxed)
 ***************************************************************/

gen_push_bxptr(Operation_push, "Operation", OperationInterfacePart)

static int Operation_info(lua_State *L)
{
        int i=1;
        OperationInterfacePart *oip = *(luaM_checkudata_mt_bx(L, 1, "Operation", OperationInterfacePart));
        std::vector<ArgumentDescription> args;

        lua_pushstring(L, oip->getName().c_str());      /* name */
        lua_pushstring(L, oip->description().c_str());  /* description */
        lua_pushstring(L, oip->resultType().c_str());   /* result type */
        lua_pushinteger(L, oip->arity());               /* arity */

        args = oip->getArgumentList();

        lua_newtable(L);

        for (std::vector<ArgumentDescription>::iterator it = args.begin(); it != args.end(); it++) {
                lua_newtable(L);
                lua_pushstring(L, "name"); lua_pushstring(L, it->name.c_str()); lua_rawset(L, -3);
                lua_pushstring(L, "type"); lua_pushstring(L, it->type.c_str()); lua_rawset(L, -3);
                lua_pushstring(L, "desc"); lua_pushstring(L, it->description.c_str()); lua_rawset(L, -3);
                lua_rawseti(L, -2, i++);
        }

        return 5;
}

static int __Operation_call(lua_State *L)
{
        std::vector<base::DataSourceBase::shared_ptr> args;
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;
        DataSourceBase::shared_ptr ret, ret2;
        types::TypeInfo *ti;

        unsigned int argc = lua_gettop(L);
        TaskContext *this_tc = __getTC(L);
        OperationInterfacePart *oip = *(luaM_checkudata_mt_bx(L, 1, "Operation", OperationInterfacePart));

        if(oip->arity() != argc-1)
                luaL_error(L, "Operation.call: wrong number of args. expected %d, got %d", oip->arity(), argc-1);

        for(unsigned int arg=2; arg<=argc; arg++) {
                /* fastpath: Variable argument */
                if ((dsbp = luaM_testudata_mt(L, arg, "Variable", DataSourceBase::shared_ptr)) != NULL) {
                        dsb = *dsbp;
                } else  {
                        /* slowpath: convert lua value to dsb */
                        std::string type = oip->getArgumentType(arg-1)->getTypeName().c_str();
                        dsb = Variable_fromlua(L, type.c_str(), arg);
                }
                args.push_back(dsb);
        }

        ret = oip->produce(args, this_tc->engine());

        /* not so nice: construct a ValueDataSource for the return Value
         * todo: at least avoid the type conversion to string.
         */
        if(oip->resultType() != "void") {
                ti = types::TypeInfoRepository::Instance()->type(oip->resultType());
                if(!ti)
                        luaL_error(L, "Operation.call: can't create return value DSB of type '%s'",
                                   oip->resultType().c_str());
                ret2 = ti->buildValue();
                ret2->update(ret.get());
                Variable_push_coerce(L, ret2);
        } else {
                ret->evaluate();
                lua_pushnil(L);
        }
        return 1;
}

static int Operation_call(lua_State *L)
{
        int ret;
        try {
                ret = __Operation_call(L);
        } catch(...) {
                luaL_error(L, "Operation.call: caught exception");
        }
        return ret;
}

static int __Operation_send(lua_State *L)
{
        DataSourceBase::shared_ptr dsb, *dsbp;

        unsigned int argc = lua_gettop(L);
        TaskContext *this_tc = __getTC(L);
        OperationInterfacePart *oip = *(luaM_checkudata_mt_bx(L, 1, "Operation", OperationInterfacePart));

        OperationCallerC *occ = new OperationCallerC(oip, oip->getName(), this_tc->engine()); // todo: alloc on stack?

        if(oip->arity() != argc-1)
                luaL_error(L, "Operation.send: wrong number of args. expected %d, got %d",
                           oip->arity(), argc);

        for(unsigned int arg=2; arg<=argc; arg++) {
                /* fastpath: Variable argument */
                if ((dsbp = luaM_testudata_mt(L, arg, "Variable", DataSourceBase::shared_ptr)) != NULL) {
                        dsb = *dsbp;
                } else  {
                        /* slowpath: convert lua value to dsb */
                        std::string type = oip->getArgumentType(arg-1)->getTypeName().c_str();
                        dsb = Variable_fromlua(L, type.c_str(), arg);
                }
                occ->arg(dsb);
        }

        /* call send and construct push SendHandle userdata */
        luaM_pushobject_mt(L, "SendHandle", SendHandleC)(occ->send());
        return 1;
}

static int Operation_send(lua_State *L)
{
        int ret;
        try {
                ret = __Operation_send(L);
        } catch(...) {
                luaL_error(L, "Operation.send: caught exception");
        }
        return ret;
}


static const struct luaL_Reg Operation_f [] = {
        { "info", Operation_info },
        { "call", Operation_call },
        { "send", Operation_send },
        { NULL, NULL }

};

static const struct luaL_Reg Operation_m [] = {
        { "info", Operation_info },
        { "send", Operation_send },
        { "__call", Operation_call },
        { NULL, NULL }
};

/***************************************************************
 * Service (boxed)
 ***************************************************************/

static int Service_getName(lua_State *L)
{
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        lua_pushstring(L, srv->getName().c_str());
        return 1;
}

static int Service_doc(lua_State *L)
{
        int ret;
        const char* doc;
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        if(lua_gettop(L) == 1) {
                lua_pushstring(L, srv->doc().c_str());
                ret = 1;
        } else {
                doc = luaL_checkstring(L, 2);
                srv->doc(doc);
                ret = 0;
        }

        return ret;
}

static int Service_getProviderNames(lua_State *L)
{
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        push_vect_str(L, srv->getProviderNames());
        return 1;
}

static int Service_getOperationNames(lua_State *L)
{
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        push_vect_str(L, srv->getOperationNames());
        return 1;
}

static int Service_hasOperation(lua_State *L)
{
        int ret;
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        const char* op = luaL_checkstring(L, 2);
        ret = srv->hasOperation(op);
        lua_pushboolean(L, ret);
        return 1;
}

static int Service_getPortNames(lua_State *L)
{
        Service::shared_ptr srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        push_vect_str(L, srv->getPortNames());
        return 1;
}

static int Service_provides(lua_State *L)
{
        int ret, i, argc;
        const char* subsrv_str;
        Service::shared_ptr srv, subsrv;

        srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        argc=lua_gettop(L);

        /* return "this" if no args given */
        if(argc == 1) {
                ret = 1;
                goto out;
        }

        for(i=2; i<=argc; i++) {
                subsrv_str = luaL_checkstring(L, i);
                // subsrv = srv->provides(subsrv_str);
                subsrv = srv->getService(subsrv_str);
                if (subsrv == 0)
                        luaL_error(L, "Service.provides: no subservice %s of service %s",
                                   srv->getName().c_str(), subsrv_str);
                else
                        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(subsrv);
        }
        ret = argc - 1;

 out:
        return ret;
}

static int Service_getOperation(lua_State *L)
{
        const char *op_str;
        OperationInterfacePart *oip;
        Service::shared_ptr srv;

        srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        op_str = luaL_checkstring(L, 2);
        oip = srv->getOperation(op_str);

        if(!oip)
                luaL_error(L, "Service_getOperation: service %s has no operation %s",
                           srv->getName().c_str(), op_str);
        Operation_push(L, oip);
        return 1;
}

static int Service_getPort(lua_State *L)
{
        const char* name;
        PortInterface *pi;
        InputPortInterface *ipi;
        OutputPortInterface *opi;

        Service::shared_ptr srv;

        srv = *(luaM_checkudata_mt(L, 1, "Service", Service::shared_ptr));
        name = luaL_checkstring(L, 2);

        pi = srv->getPort(name);
        if(!pi)
                luaL_error(L, "Service.getPort: service %s has no port %",
                           srv->getName().c_str(), name);

        /* input or output? */
        if ((ipi = dynamic_cast<InputPortInterface *> (pi)) != NULL)
                InputPort_push(L, ipi);
        else if ((opi = dynamic_cast<OutputPortInterface *> (pi)) != NULL)
                OutputPort_push(L, opi);
        else
                luaL_error(L, "Service.getPort: unknown port type returned");

        return 1;
}

static const struct luaL_Reg Service_f [] = {
        { "getName", Service_getName },
        { "doc", Service_doc },
        { "getProviderNames", Service_getProviderNames },
        { "getOperationNames", Service_getOperationNames },
        { "hasOperation", Service_hasOperation },
        { "getPortNames", Service_getPortNames },
        { "provides", Service_provides },
        { "getOperation", Service_getOperation },
        { "getPort", Service_getPort },
        { NULL, NULL }
};

static const struct luaL_Reg Service_m [] = {
        { "getName", Service_getName },
        { "doc", Service_doc },
        { "getProviderNames", Service_getProviderNames },
        { "getOperationNames", Service_getOperationNames },
        { "hasOperation", Service_hasOperation },
        { "getPortNames", Service_getPortNames },
        { "provides", Service_provides },
        { "getOperation", Service_getOperation },
        { "getPort", Service_getPort },
        { "__gc", GCMethod<Service::shared_ptr> },
        { NULL, NULL }
};

/***************************************************************
 * ServiceRequester
 ***************************************************************/

gen_push_bxptr(ServiceRequester_push, "ServiceRequester", ServiceRequester)

static int ServiceRequester_getRequestName(lua_State *L)
{
        ServiceRequester *sr;

        sr = *(luaM_checkudata_bx(L, 1, ServiceRequester));
        lua_pushstring(L, sr->getRequestName().c_str());
        return 1;
}

static int ServiceRequester_getRequesterNames(lua_State *L)
{
        ServiceRequester *sr;
        sr = *(luaM_checkudata_bx(L, 1, ServiceRequester));
        push_vect_str(L, sr->getRequesterNames());
        return 1;
}

static int ServiceRequester_ready(lua_State *L)
{
        int ret;
        ServiceRequester *sr;
        sr = *(luaM_checkudata_bx(L, 1, ServiceRequester));
        ret = sr->ready();
        lua_pushboolean(L, ret);
        return 1;
}

static int ServiceRequester_disconnect(lua_State *L)
{
        ServiceRequester *sr;
        sr = *(luaM_checkudata_bx(L, 1, ServiceRequester));
        sr->disconnect();
        return 0;
}

static int ServiceRequester_requires(lua_State *L)
{
        int argc, ret, i;
        const char* subsr_str;
        ServiceRequester *sr;
        ServiceRequester *subsr;

        sr = *(luaM_checkudata_bx(L, 1, ServiceRequester));
        argc = lua_gettop(L);

        /* return "this" if no args given */
        if(argc == 1) {
                ret = 1;
                goto out;
        }

        for(i=2; i<=argc; i++) {
                subsr_str = luaL_checkstring(L, i);
                subsr = sr->requires(subsr_str);
                if (subsr == 0)
                        luaL_error(L, "ServiceRequester: no required subservice %s of service %s",
                                   subsr_str, sr->getRequestName().c_str());
                else
                        ServiceRequester_push(L, subsr);
        }
        ret = argc - 1;

 out:
        return ret;
}

static const struct luaL_Reg ServiceRequester_f [] = {
        { "getRequestName", ServiceRequester_getRequestName },
        { "getRequesterNames", ServiceRequester_getRequesterNames },
        { "ready", ServiceRequester_ready },
        { "disconnect", ServiceRequester_disconnect },
        { "requires", ServiceRequester_requires },
        { NULL, NULL }
};

static const struct luaL_Reg ServiceRequester_m [] = {
        { "getRequestName", ServiceRequester_getRequestName },
        { "getRequesterNames", ServiceRequester_getRequesterNames },
        { "ready", ServiceRequester_ready },
        { "disconnect", ServiceRequester_disconnect },
        { "requires", ServiceRequester_requires },
        { NULL, NULL }
};


/***************************************************************
 * TaskContext (boxed)
 ***************************************************************/

gen_push_bxptr(TaskContext_push, "TaskContext", TaskContext)

static int TaskContext_getName(lua_State *L)
{
        const char *s;
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        s = tc->getName().c_str();
        lua_pushstring(L, s);
        return 1;
}

static int TaskContext_start(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        bool b = tc->start();
        lua_pushboolean(L, b);
        return 1;
}

static int TaskContext_stop(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        bool b = tc->stop();
        lua_pushboolean(L, b);
        return 1;
}

static int TaskContext_configure(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        bool ret = tc->configure();
        lua_pushboolean(L, ret);
        return 1;
}

static int TaskContext_activate(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        bool ret = tc->activate();
        lua_pushboolean(L, ret);
        return 1;
}

static int TaskContext_cleanup(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        bool ret = tc->cleanup();
        lua_pushboolean(L, ret);
        return 1;
}

static int TaskContext_getState(lua_State *L)
{
        TaskCore::TaskState ts;
        TaskContext **tc = (TaskContext**) luaM_checkudata_bx(L, 1, TaskContext);
        ts = (*tc)->getTaskState();

        switch(ts) {
        case TaskCore::Init:            lua_pushstring(L, "Init"); break;
        case TaskCore::PreOperational:  lua_pushstring(L, "PreOperational"); break;
        case TaskCore::FatalError:      lua_pushstring(L, "FatalError"); break;
        case TaskCore::Exception:       lua_pushstring(L, "Exception"); break;
        case TaskCore::Stopped:         lua_pushstring(L, "Stopped"); break;
        case TaskCore::Running:         lua_pushstring(L, "Running"); break;
        case TaskCore::RunTimeError:    lua_pushstring(L, "RunTimeError"); break;
        default:                        lua_pushstring(L, "unknown");
        }
        return 1;
}

/* string-table getPeers(TaskContext self)*/
/* should better return array of TC's */
static int TaskContext_getPeers(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        std::vector<std::string> plist = tc->getPeerList();
        push_vect_str(L, plist);
        return 1;
}

/* bool addPeer(TaskContext self, TaskContext peer)*/
static int TaskContext_addPeer(lua_State *L)
{
        bool ret;
        TaskContext *self = *(luaM_checkudata_bx(L, 1, TaskContext));
        TaskContext *peer = *(luaM_checkudata_bx(L, 2, TaskContext));
        ret = self->addPeer(peer);
        lua_pushboolean(L, ret);
        return 1;
}

/* void removePeer(TaskContext self, string peer)*/
static int TaskContext_removePeer(lua_State *L)
{
        std::string peer;
        TaskContext *self = *(luaM_checkudata_bx(L, 1, TaskContext));
        peer = luaL_checkstring(L, 2);
        self->removePeer(peer);
        return 0;
}

/* TaskContext getPeer(string name) */
static int TaskContext_getPeer(lua_State *L)
{
        std::string strpeer;
        TaskContext *peer;
        TaskContext *self = *(luaM_checkudata_bx(L, 1, TaskContext));
        strpeer = luaL_checkstring(L, 2);
        peer = self->getPeer(strpeer);

        if(!peer) {
                luaL_error(L, "TaskContext.getPeer: no peer %s", strpeer.c_str());
                goto out;
        }

        TaskContext_push(L, peer);
 out:
        return 1;
}

static int TaskContext_getPortNames(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        std::vector<std::string> plist = tc->ports()->getPortNames();
        push_vect_str(L, plist);
        return 1;
}


#if 0
static int __tc_addport(lua_State *L, TaskContext *tc, int tcind,
                       PortInterface *pi, int piind)
{
        int len;
        _DBG("in: gettop=%d", lua_gettop(L));
        /* manage TC to which the port has been added
         * PortOwners={p1={tc1, tc2, tc3}, p2={tc3}}
         */
        lua_getfield(L, LUA_ENVIRONINDEX, "PortOwners");
        if (lua_isnil(L, -1)) {
                _DBG("creating new PortOwners");
                lua_pop(L, 1);
                lua_newtable(L);
        } else {
                _DBG("PortOwners exists... len=%d", lua_objlen(L, -1));
        }

        /* now we have the "PortOwners" table at the top either way */
        lua_pushvalue(L, piind);        /* make copy of Port userdata */
        lua_rawget(L, -2);              /* get table at PortOwners[piind] */

        if (lua_isnil(L, -1)) {
                _DBG("creating new PortOwners[0x%x]", (unsigned long) pi);
                lua_pop(L, 1);
                lua_newtable(L);        /* create new table for adding TC's */
        } else {
                _DBG("PortOwners[0x%x] exists, len=%d", (unsigned long) pi, lua_objlen(L, -1));
        }

        lua_pushvalue(L, 1);    /* stack: -1 TC-userdata, -2 PortOwners[pi] table, -3 PortOwners tab */
        len = lua_objlen(L, -2);
        lua_rawseti(L, -2, len+1);      /* store TC ud in table at next free index */
                                        /* stack: -1 PortOwners[pi] table, -2 PortOwners tab */

        lua_pushvalue(L, piind); /* push Port userdata (key), stack: port-ud, tab, PortOwners */
        lua_rawset(L, -3);      /* PortOwners[port-ud] = { tc }, stack: PortOwners */

        lua_setfield(L, LUA_ENVIRONINDEX, "PortOwners");

        _DBG("out: gettop=%d", lua_gettop(L));
}
#endif

static int TaskContext_addPort(lua_State *L)
{
        const char* name, *desc;
        PortInterface **pi;
        int argc = lua_gettop(L);
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));

        pi = (PortInterface**) luaL_testudata(L, 2, "InputPort");
        if(pi) goto check_name;

        pi = (PortInterface**) luaL_testudata(L, 2, "OutputPort");
        if(pi) goto check_name;

        return luaL_error(L, "addPort: invalid argument, not a Port");

 check_name:
        if(argc > 2) {
                name = luaL_checkstring(L, 3);
                (*pi)->setName(name);
        }

        if(argc > 3) {
                desc = luaL_checkstring(L, 4);
                (*pi)->doc(desc);
        }

        tc->ports()->addPort(**pi);
        return 0;
}

static int TaskContext_addEventPort(lua_State *L)
{
        const char* name, *desc;
        InputPortInterface **ipi;
        int argc = lua_gettop(L);
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));

        if((ipi = (InputPortInterface**) luaL_testudata(L, 2, "InputPort")) == NULL)
                return luaL_error(L, "addEventPort: invalid argument, not an InputPort");

        if(argc > 2) {
                name = luaL_checkstring(L, 3);
                (*ipi)->setName(name);
        }

        if(argc > 3) {
                desc = luaL_checkstring(L, 4);
                (*ipi)->doc(desc);
        }

        tc->ports()->addEventPort(**ipi);
        return 0;
}

static int TaskContext_getPort(lua_State *L)
{
        const char* name;
        PortInterface *pi;
        InputPortInterface *ipi;
        OutputPortInterface *opi;

        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        name = luaL_checkstring(L, 2);

        pi = tc->getPort(name);
        if(!pi)
                luaL_error(L, "TaskContext.getPort: no port %s for taskcontext %s",
                           name, tc->getName().c_str());

        /* input or output? */
        if ((ipi = dynamic_cast<InputPortInterface *> (pi)) != NULL)
                InputPort_push(L, ipi);
        else if ((opi = dynamic_cast<OutputPortInterface *> (pi)) != NULL)
                OutputPort_push(L, opi);
        else
                luaL_error(L, "TaskContext.getPort: unknown port returned");

        return 1;
}

static int TaskContext_removePort(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        const char *port = luaL_checkstring(L, 2);
        tc->ports()->removePort(port);
        return 0;
}

static int TaskContext_addProperty(lua_State *L)
{
        const char *name, *desc;
        int argc = lua_gettop(L);
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        PropertyBase *pb = *(luaM_checkudata_mt_bx(L, 2, "Property", PropertyBase));

        if(argc > 2) {
                name = luaL_checkstring(L, 3);
                pb->setName(name);
        }

        if(argc > 3) {
                desc = luaL_checkstring(L, 4);
                pb->setDescription(desc);
        }


        if(!tc->addProperty(*pb))
                luaL_error(L, "TaskContext.addProperty: failed to add property %s.",
                           pb->getName().c_str());

        return 0;
}

static int TaskContext_getProperty(lua_State *L)
{
        const char *name;
        PropertyBase *prop;

        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        name = luaL_checkstring(L, 2);

        prop = tc->getProperty(name);

        if(!prop)
                luaL_error(L, "%s failed. No such property", __FILE__);

        Property_push(L, prop);
        return 1;
}

static int TaskContext_getProperties(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        vector<PropertyBase*> props = tc->properties()->getProperties();

        int key = 1;
        lua_createtable(L, props.size(), 0);
        for(vector<PropertyBase*>::iterator it = props.begin(); it != props.end(); ++it) {
                Property_push(L, *it);
                lua_rawseti(L, -2, key++);
        }

        return 1;
}

static int TaskContext_removeProperty(lua_State *L)
{
        const char *name;
        PropertyBase *prop;

        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        name = luaL_checkstring(L, 2);

        prop = tc->getProperty(name);

        if(!prop)
                luaL_error(L, "%s failed. No such property", __FILE__);

        tc->properties()->remove(prop);
        return 0;
}


static int TaskContext_getOps(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        std::vector<std::string> oplst = tc->operations()->getNames();
        push_vect_str(L, oplst);
        return 1;
}

/* returns restype, arity, table-of-arg-descr */
static int TaskContext_getOpInfo(lua_State *L)
{
        int i=1;
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        const char *op = luaL_checkstring(L, 2);
        std::vector<ArgumentDescription> args;

        if(!tc->operations()->hasMember(op))
                luaL_error(L, "TaskContext.getOpInfo failed: no such operation");

        lua_pushstring(L, tc->operations()->getResultType(op).c_str()); /* result type */
        lua_pushinteger(L, tc->operations()->getArity(op));             /* arity */
        lua_pushstring(L, tc->operations()->getDescription(op).c_str()); /* description */

        args = tc->operations()->getArgumentList(op);

        lua_newtable(L);

        for (std::vector<ArgumentDescription>::iterator it = args.begin(); it != args.end(); it++) {
                lua_newtable(L);
                lua_pushstring(L, "name"); lua_pushstring(L, it->name.c_str()); lua_rawset(L, -3);
                lua_pushstring(L, "type"); lua_pushstring(L, it->type.c_str()); lua_rawset(L, -3);
                lua_pushstring(L, "desc"); lua_pushstring(L, it->description.c_str()); lua_rawset(L, -3);
                lua_rawseti(L, -2, i++);
        }

        return 4;
}

static int TaskContext_provides(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        Service::shared_ptr srv = tc->provides();

        if(srv == 0)
                luaL_error(L, "TaskContext.provides: no default service");

        /* forward to Serivce.provides */
        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(srv);
        lua_replace(L, 1);
        return Service_provides(L);
}

static int TaskContext_requires(lua_State *L)
{
        ServiceRequester *sr;
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        sr = tc->requires();

        if(!sr)
                luaL_error(L, "TaskContext.requires returned NULL");

        ServiceRequester_push(L, sr);
        lua_replace(L, 1);
        return ServiceRequester_requires(L);
}

static int TaskContext_connectServices(lua_State *L)
{
        int ret;
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        TaskContext *peer = *(luaM_checkudata_bx(L, 2, TaskContext));
        ret = tc->connectServices(peer);
        lua_pushboolean(L, ret);
        return 1;
}

static int __TaskContext_call(lua_State *L)
{
        unsigned int argc = lua_gettop(L);
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        const char *op = luaL_checkstring(L, 2);

        TaskContext *this_tc = __getTC(L);
        std::vector<base::DataSourceBase::shared_ptr> args;
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;
        DataSourceBase::shared_ptr ret, ret2;
        types::TypeInfo *ti;

        OperationInterfacePart *orp = tc->operations()->getPart(op);

        if(!orp)
                luaL_error(L, "TaskContext.call: no operation %s", op);

        if(orp->arity() != argc-2)
                luaL_error(L, "TaskContext.call: wrong number of args. expected %d, got %d", orp->arity(), argc-2);

        for(unsigned int arg=3; arg<=argc; arg++) {
                /* fastpath: Variable argument */
                if ((dsbp = luaM_testudata_mt(L, arg, "Variable", DataSourceBase::shared_ptr)) != NULL) {
                        dsb = *dsbp;
                } else  {
                        /* slowpath: convert lua value to dsb */
                        std::string type = orp->getArgumentType(arg-2)->getTypeName().c_str();
                        dsb = Variable_fromlua(L, type.c_str(), arg);
                }
                args.push_back(dsb);
        }

        ret = tc->operations()->produce(op, args, this_tc->engine());

        /* not so nice: construct a ValueDataSource for the return Value
         * todo: at least avoid the type conversion to string.
         */
        if(orp->resultType() != "void") {
                ti = types::TypeInfoRepository::Instance()->type(orp->resultType());
                if(!ti)
                        luaL_error(L, "TaskContext.call: failed to construct result type %s",
                                   orp->resultType().c_str());
                ret2 = ti->buildValue();
                ret2->update(ret.get());
                Variable_push_coerce(L, ret2);
        } else {
                ret->evaluate();
                lua_pushnil(L);
        }
        return 1;
}

static int TaskContext_call(lua_State *L)
{
        int ret;
        try {
                ret = __TaskContext_call(L);
        } catch(...) {
                luaL_error(L, "TaskContext.call: caught exception");
        }
        return ret;
}


static int TaskContext_hasOperation(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        Service::shared_ptr srv = tc->provides();

        if(srv == 0)
                luaL_error(L, "TaskContext.provides: no default service");

        /* forward to Serivce.hasOperation */
        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(srv);
        lua_replace(L, 1);
        return Service_hasOperation(L);
}


static int TaskContext_getOperation(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        Service::shared_ptr srv = tc->provides();

        if(srv == 0)
                luaL_error(L, "TaskContext.getOperation: no default service");

        /* forward to Serivce.getOperation */
        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(srv);
        lua_replace(L, 1);
        return Service_getOperation(L);
}

/*
 * SendHandle (required for send)
 */

static void SendStatus_push(lua_State *L, SendStatus ss)
{
        switch (ss) {
        case SendSuccess:  lua_pushstring(L, "SendSuccess"); break;
        case SendNotReady: lua_pushstring(L, "SendNotReady"); break;
        case SendFailure:  lua_pushstring(L, "SendFailure"); break;
        default:           lua_pushstring(L, "unkown");
        }
}

static int __SendHandle_collect(lua_State *L, bool block)
{
        std::vector<DataSourceBase::shared_ptr> coll_args;
        SendStatus ss;
        const types::TypeInfo *ti;
        OperationInterfacePart *orp;
        DataSourceBase::shared_ptr tmpdsb;
        int coll_argc;

        SendHandleC *shc = luaM_checkudata_mt(L, 1, "SendHandle", SendHandleC);

        /* get orp pointer */
        orp = shc->getOrp();
        coll_argc = orp->collectArity();

        /* create appropriate datasources */
        for(int i=1; i <= coll_argc; i++) {
                ti = orp->getCollectType(i);
                tmpdsb = ti->buildValue();
                coll_args.push_back(tmpdsb);
                shc->arg(tmpdsb);
        }

        if(block) ss = shc->collect();
        else ss = shc->collectIfDone();

        SendStatus_push(L, ss);

        /* store all DSB in coll_args to luabind::object */
        for (int i=0; i<coll_argc; i++) {
                Variable_push_coerce(L, coll_args[i]);
        }
        /* SendStatus + collect args */
        return coll_argc + 1;
}

static int SendHandle_collect(lua_State *L)
{
        return __SendHandle_collect(L, true);
}

static int SendHandle_collectIfDone(lua_State *L)
{
        return __SendHandle_collect(L, false);
}


static const struct luaL_Reg SendHandle_f [] = {
        { "collect", SendHandle_collect },
        { "collectIfDone", SendHandle_collectIfDone },
        { NULL, NULL }
};

static const struct luaL_Reg SendHandle_m [] = {
        { "collect", SendHandle_collect },
        { "collectIfDone", SendHandle_collectIfDone },
        { "__gc", GCMethod<SendHandleC> },
        { NULL, NULL }
};

/* TaskContext continued */
static int __TaskContext_send(lua_State *L)
{
        unsigned int argc = lua_gettop(L);
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        TaskContext *this_tc = __getTC(L);
        const char *op = luaL_checkstring(L, 2);

        OperationInterfacePart *orp = tc->operations()->getPart(op);
        OperationCallerC *occ = new OperationCallerC(orp, op, this_tc->engine()); // todo: alloc on stack?
        DataSourceBase::shared_ptr dsb;
        DataSourceBase::shared_ptr *dsbp;

        if(!orp)
                luaL_error(L, "TaskContext.send: no operation %s for TaskContext %s",
                           op, tc->getName().c_str());

        if(orp->arity() != argc-2)
                luaL_error(L, "TaskContext.send: wrong number of args. expected %d, got %d",
                           orp->arity(), argc);

        for(unsigned int arg=3; arg<=argc; arg++) {
                /* fastpath: Variable argument */
                if ((dsbp = luaM_testudata_mt(L, arg, "Variable", DataSourceBase::shared_ptr)) != NULL) {
                        dsb = *dsbp;
                } else  {
                        /* slowpath: convert lua value to dsb */
                        std::string type = orp->getArgumentType(arg-2)->getTypeName().c_str();
                        dsb = Variable_fromlua(L, type.c_str() ,arg);
                }
                occ->arg(dsb);
        }

        /* call send and construct push SendHandle userdata */
        luaM_pushobject_mt(L, "SendHandle", SendHandleC)(occ->send());
        return 1;
}

static int TaskContext_send(lua_State *L)
{
        int ret;
        try {
                ret = __TaskContext_send(L);
        } catch(...) {
                luaL_error(L, "TaskContext.send: caught exception");
        }
        return ret;
}

/* only explicit destruction allowed */
static int TaskContext_del(lua_State *L)
{
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        delete tc;

        /* this prevents calling rtt methods which would cause a crash */
        luaL_getmetatable(L, "__dead__");
        lua_setmetatable(L, -2);
        return 0;
}

#if 0
/* dispatcher: if a method with name then use that, else forward to
 * default service.
 *
 * This is useful but also potentially very confusing, because it
 * creates a mix of ':' and '.' for calling methods. For some like
 * 'activate' which are duplicates this is really bad. For consistency
 * it would be better to have sth. like TaskContext:ops() which
 * returns an indexable object that returns services like:
 * TC:ops().op_1("hullo")
 */
static int TaskContext_index(lua_State *L)
{
        Service::shared_ptr srv;
        TaskContext *tc = *(luaM_checkudata_bx(L, 1, TaskContext));
        const char* key = luaL_checkstring(L, 2);

        lua_getmetatable(L, 1);
        lua_getfield(L, -1, key);

        /* Either key is name of a method in the metatable */
        if(!lua_isnil(L, -1))
                return 1;

        /* ... or its a field access, so recall as self.get(self, value). */
        lua_settop(L, 2);
        srv = tc->provides();
        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(srv);
        lua_replace(L, 1);
        /* todo: could fall back on ports? */
        return Service_getOperation(L);
}
#endif

static const struct luaL_Reg TaskContext_f [] = {
        { "getName", TaskContext_getName },
        { "start", TaskContext_start },
        { "stop", TaskContext_stop },
        { "configure", TaskContext_configure },
        { "activate", TaskContext_activate },
        { "cleanup", TaskContext_cleanup },
        { "getState", TaskContext_getState },
        { "getPeers", TaskContext_getPeers },
        { "addPeer", TaskContext_addPeer },
        { "removePeer", TaskContext_removePeer },
        { "getPeer", TaskContext_getPeer },
        { "getPortNames", TaskContext_getPortNames },
        { "addPort", TaskContext_addPort },
        { "addEventPort", TaskContext_addEventPort },
        { "getPort", TaskContext_getPort },
        { "removePort", TaskContext_removePort },
        { "addProperty", TaskContext_addProperty },
        { "getProperty", TaskContext_getProperty },
        { "getProperties", TaskContext_getProperties },
        { "removeProperty", TaskContext_removeProperty },
        { "getOps", TaskContext_getOps },
        { "getOpInfo", TaskContext_getOpInfo },
        { "hasOperation", TaskContext_hasOperation },
        { "provides", TaskContext_provides },
        { "connectServices", TaskContext_connectServices },
        { "call", TaskContext_call },
        { "getOperation", TaskContext_getOperation },
        { "send", TaskContext_send },
        { "delete", TaskContext_del },
        { NULL, NULL}
};

static const struct luaL_Reg TaskContext_m [] = {
        { "getName", TaskContext_getName },
        { "start", TaskContext_start },
        { "stop", TaskContext_stop },
        { "configure", TaskContext_configure },
        { "activate", TaskContext_activate },
        { "cleanup", TaskContext_cleanup },
        { "getState", TaskContext_getState },
        { "getPeers", TaskContext_getPeers },
        { "addPeer", TaskContext_addPeer },
        { "removePeer", TaskContext_removePeer },
        { "getPeer", TaskContext_getPeer },
        { "getPortNames", TaskContext_getPortNames },
        { "addPort", TaskContext_addPort },
        { "addEventPort", TaskContext_addEventPort },
        { "getPort", TaskContext_getPort },
        { "removePort", TaskContext_removePort },
        { "addProperty", TaskContext_addProperty },
        { "getProperty", TaskContext_getProperty },
        { "getProperties", TaskContext_getProperties },
        { "removeProperty", TaskContext_removeProperty },
        { "getOps", TaskContext_getOps },
        { "getOpInfo", TaskContext_getOpInfo },
        { "hasOperation", TaskContext_hasOperation },
        { "provides", TaskContext_provides },
        { "requires", TaskContext_requires },
        { "connectServices", TaskContext_connectServices },
        { "call", TaskContext_call },
        { "getOperation", TaskContext_getOperation },
        { "send", TaskContext_send },
        { "delete", TaskContext_del },
        // { "__index", TaskContext_index },
        /* we don't GC TaskContexts
         * { "__gc", GCMethod<TaskContext> }, */
        { NULL, NULL}
};

/*
 * Execution engine hook registration
 */

/* executable IF */
class EEHook : public base::ExecutableInterface
{
protected:
        std::string func;
        lua_State *L;
        TaskContext *tc; /* remember this to be able to print TC name
                            in error messages */
public:
        EEHook(lua_State *_L, std::string _func) { L = _L; func = _func; tc = __getTC(L); }
        bool execute() { return call_func(L, func.c_str(), tc, 1, 1); }
};

static int EEHook_new(lua_State *L)
{
        const char *func;
        func = luaL_checkstring(L, 1);
        luaM_pushobject(L, EEHook)(L, func);
        return 1;
}

static int EEHook_enable(lua_State *L)
{
        EEHook *eeh = luaM_checkudata(L, 1, EEHook);
        TaskContext *tc = __getTC(L);
        lua_pushboolean(L, tc->engine()->runFunction(eeh));
        return 1;
}

static int EEHook_disable(lua_State *L)
{       EEHook *eeh = luaM_checkudata(L, 1, EEHook);
        TaskContext *tc = __getTC(L);
        lua_pushboolean(L, tc->engine()->removeFunction(eeh));
        return 1;
}

static int EEHook_gc(lua_State *L)
{
        EEHook_disable(L);
        lua_settop(L, 1);
        reinterpret_cast<EEHook*>(lua_touserdata(L, 1))->~EEHook();
        return 0;
}

static const struct luaL_Reg EEHook_f [] = {
        { "new", EEHook_new },
        { "enable", EEHook_enable },
        { "disable", EEHook_disable },
};


static const struct luaL_Reg EEHook_m [] = {
        { "enable", EEHook_enable },
        { "disable", EEHook_disable },
        { "__gc", EEHook_gc },
};


/*
 * Logger and miscellaneous
 */
static const char *const loglevels[] = {
        "Never", "Fatal", "Critical", "Error", "Warning", "Info", "Debug", "RealTime", NULL
};

static int Logger_setLogLevel(lua_State *L)
{
        Logger::LogLevel ll = (Logger::LogLevel) luaL_checkoption(L, 1, NULL, loglevels);
        log().setLogLevel(ll);
        return 0;
}

static int Logger_getLogLevel(lua_State *L)
{
        Logger::LogLevel ll = log().getLogLevel();

        switch(ll) {
        case Logger::Never:     lua_pushstring(L, "Never"); break;
        case Logger::Fatal:     lua_pushstring(L, "Fatal"); break;
        case Logger::Critical:  lua_pushstring(L, "Critical"); break;
        case Logger::Error:     lua_pushstring(L, "Error"); break;
        case Logger::Warning:   lua_pushstring(L, "Warning"); break;
        case Logger::Info:      lua_pushstring(L, "Info"); break;
        case Logger::Debug:     lua_pushstring(L, "Debug"); break;
        case Logger::RealTime:  lua_pushstring(L, "RealTime"); break;
        default:
                lua_pushstring(L, "unknown");
        }
        return 1;
}

static int Logger_log(lua_State *L)
{
        const char *mes;
        for(int i=1; i<=lua_gettop(L); i++) {
                mes = luaL_checkstring(L, i);
                Logger::log() << mes;
        }
        Logger::log() << endlog();
        return 0;
}

static int Logger_logl(lua_State *L)
{
        const char *mes;
        Logger::LogLevel ll = (Logger::LogLevel) luaL_checkoption(L, 1, NULL, loglevels);
        for(int i=2; i<=lua_gettop(L); i++) {
                mes = luaL_checkstring(L, i);
                Logger::log(ll) << mes;
        }
        Logger::log(ll) << endlog();
        return 0;
}

/* misc stuff */

static int getTime(lua_State *L)
{
        unsigned long nsec, sec;
        RTT::os::TimeService::nsecs total_nsec = TimeService::Instance()->getNSecs();
        sec =  total_nsec / 1000000000;
        nsec = total_nsec % 1000000000;
        lua_pushinteger(L, sec);
        lua_pushinteger(L, nsec);
        return 2;
}

static int getTC(lua_State *L)
{
        lua_pushstring(L, "this_TC");
        lua_gettable(L, LUA_REGISTRYINDEX);
        return 1;
}

static TaskContext* __getTC(lua_State *L)
{
        TaskContext *tc;
        getTC(L);
        tc = *(luaM_checkudata_bx(L, -1, TaskContext));
        lua_pop(L, 1);
        return tc;
}

/* global service */
static int provides_global(lua_State *L)
{
        luaM_pushobject_mt(L, "Service", Service::shared_ptr)(GlobalService::Instance());
        lua_insert(L, 1);
        return Service_provides(L);
}

static int rtt_services(lua_State *L)
{
        push_vect_str(L, PluginLoader::Instance()->listServices());
        return 1;
}

static int rtt_typekits(lua_State *L)
{
        push_vect_str(L, PluginLoader::Instance()->listTypekits());
        return 1;
}

static int rtt_types(lua_State *L)
{
        push_vect_str(L, TypeInfoRepository::Instance()->getTypes());
        return 1;
}

static const struct luaL_Reg rtt_f [] = {
        {"getTime", getTime },
        {"getTC", getTC },
        {"provides", provides_global },
        {"services", rtt_services },
        {"typekits", rtt_typekits },
        {"types", rtt_types },
        {"setLogLevel", Logger_setLogLevel },
        {"getLogLevel", Logger_getLogLevel },
        {"log", Logger_log },
        {"logl", Logger_logl },
        {NULL, NULL}
};

extern "C" int luaopen_rtt(lua_State *L);

int luaopen_rtt(lua_State *L)
{
        lua_newtable(L);
        lua_replace(L, LUA_ENVIRONINDEX);

        luaL_newmetatable(L, "__dead__");

        /* register MyObj
         * 1. line creates metatable MyObj and registers name in registry
         * 2. line duplicates metatable
         * 3. line sets metatable[__index]=metatable
         *    (more precisely: table at -2 [__index] = top_of_stack, pops top of stack)
         * 4. line register methods in metatable
         * 5. line registers free functions in global mystuff.MyObj table
         */
        luaL_newmetatable(L, "TaskContext");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, TaskContext_m);
        luaL_register(L, "rtt.TaskContext", TaskContext_f);

        luaL_newmetatable(L, "Operation");
        lua_pushvalue(L, -1);
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, Operation_m);
        luaL_register(L, "rtt.Operation", Operation_f);

        luaL_newmetatable(L, "Service");
        lua_pushvalue(L, -1);
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, Service_m);
        luaL_register(L, "rtt.Service", Service_f);

        luaL_newmetatable(L, "ServiceRequester");
        lua_pushvalue(L, -1);
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, ServiceRequester_m);
        luaL_register(L, "rtt.ServiceRequester", ServiceRequester_f);

        luaL_newmetatable(L, "SendHandle");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, SendHandle_m);
        luaL_register(L, "rtt.SendHandle", SendHandle_f);

        luaL_newmetatable(L, "InputPort");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, InputPort_m);
        luaL_register(L, "rtt.InputPort", InputPort_f);

        luaL_newmetatable(L, "OutputPort");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, OutputPort_m);
        luaL_register(L, "rtt.OutputPort", OutputPort_f);

        luaL_newmetatable(L, "Variable");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, Variable_m);
        luaL_register(L, "rtt.Variable", Variable_f);

        luaL_newmetatable(L, "Property");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, Property_m);
        luaL_register(L, "rtt.Property", Property_f);

        luaL_newmetatable(L, "EEHook");
        lua_pushvalue(L, -1); /* duplicates metatable */
        lua_setfield(L, -2, "__index");
        luaL_register(L, NULL, EEHook_m);
        luaL_register(L, "rtt.EEHook", EEHook_f);

        /* misc toplevel functions */
        luaL_register(L, "rtt", rtt_f);

        /* constants
         * ConnPolicy.type DATA=0, BUFFER=1.
         * ConnPolicy.lock_policy UNSYNC=0, LOCKED=1, LOCK_FREE=2
         * ORO_SCHED_RT=1, ORO_SCHED_OTHER=0
         */


        return 1;
}

/* store the TC to be returned by getTC() in registry */
int set_context_tc(TaskContext *tc, lua_State *L)
{
        TaskContext **new_tc;
        lua_pushstring(L, "this_TC");
        new_tc = (TaskContext**) lua_newuserdata(L, sizeof(TaskContext*));
        *new_tc = (TaskContext*) tc;
        luaL_getmetatable(L, "TaskContext");
        lua_setmetatable(L, -2);
        lua_settable(L, LUA_REGISTRYINDEX);
        return 0;
}


/* call a zero arity function with a boolean return value
 * used to call various hooks */
bool call_func(lua_State *L, const std::string &fname, TaskContext *tc,
               int require_function, int require_result)
{
        bool ret = true;
        lua_getglobal(L, fname.c_str());

        if(lua_isnil(L, -1)) {
                if(require_function)
                        luaL_error(L, "%s: no (required) Lua function %s", tc->getName().c_str(), fname.c_str());
                else
                        goto out;
        }

        if (lua_pcall(L, 0, 1, 0) != 0) {
                Logger::log(Logger::Error) << "LuaComponent '"<< tc->getName()  <<"': error calling function "
                                           << fname << ": " << lua_tostring(L, -1) << endlog();
                ret = false;
                goto out;
        }

        if(require_result) {
                if (!lua_isboolean(L, -1)) {
                        Logger::log(Logger::Error) << "LuaComponent '" << tc->getName() << "': " << fname
                                                   << " must return a bool but returned a "
                                                   << lua_typename(L, lua_type(L, -1)) << endlog();
                        ret = false;
                        goto out;
                }
                ret = lua_toboolean(L, -1);
        }
 out:
        return ret;
}

---

ocl
Author(s): OCL Development Team
autogenerated on Fri Jan 11 09:50:38 2013