BindStorage.hpp
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00001 /***************************************************************************
00002   tag: FMTC  do nov 2 13:06:12 CET 2006  BindStorage.hpp
00003 
00004                         BindStorage.hpp -  description
00005                            -------------------
00006     begin                : do november 02 2006
00007     copyright            : (C) 2006 FMTC
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
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00014  *   version 2 of the License.                                             *
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00037 
00038 
00039 #ifndef ORO_TASK_BIND_STORAGE_HPP
00040 #define ORO_TASK_BIND_STORAGE_HPP
00041 
00042 #include <boost/function.hpp>
00043 #include <boost/type_traits/function_traits.hpp>
00044 #include <boost/bind.hpp>
00045 #include <boost/fusion/include/vector.hpp>
00046 #include <boost/fusion/include/filter_if.hpp>
00047 #include "NA.hpp"
00048 #include "../Logger.hpp"
00049 
00050 #ifdef ORO_SIGNALLING_OPERATIONS
00051 #include "Signal.hpp"
00052 #endif
00053 
00054 namespace RTT
00055 {
00056     namespace internal
00057     {
00058         namespace bf=boost::fusion;
00059         namespace mpl=boost::mpl;
00064         template<class T>
00065         struct AStore
00066         {
00067             T arg;
00068             AStore() : arg() {}
00069             AStore(T t) : arg(t) {}
00070             AStore(AStore const& o) : arg(o.arg) {}
00071 
00072             T& get() { return arg; }
00073             void operator()(T a) { arg = a; }
00074             operator T() { return arg;}
00075         };
00076 
00077         template<class T>
00078         struct AStore<T&>
00079         {
00080             T* arg;
00081             AStore() : arg( &NA<T&>::na() ) {}
00082             AStore(T& t) : arg(&t) {}
00083             AStore(AStore const& o) : arg(o.arg) {}
00084 
00085             T& get() { return *arg; }
00086             void operator()(T& a) { arg = &a; }
00087             operator T&() { return *arg;}
00088         };
00089 
00090         template<class T>
00091         std::ostream& operator<<(std::ostream& o, AStore<T>& a) { o << "aarg:"<<a.get(); return o;}
00092 
00093         template<>
00094         struct RStore<void> {
00095             bool executed;
00096             bool error;
00097             RStore() : executed(false), error(false) {}
00098 
00099             void checkError() const {
00100               if(error) throw std::runtime_error("Unable to complete the operation call. The called operation has thrown an exception");
00101             }
00102 
00103             bool isError() const {
00104               return error;
00105             }
00106 
00107             bool isExecuted() const {
00108                 return executed;
00109             }
00110 
00111             template<class F>
00112             void exec(F f) {
00113                 error = false;
00114                 try{
00115                     f();
00116                 } catch (std::exception& e) {
00117                     log(Error) << "Exception raised while executing an operation : "  << e.what() << endlog();
00118                     error = true;
00119                 } catch (...) {
00120                     log(Error) << "Unknown exception raised while executing an operation." << endlog();
00121                     error = true;
00122                 }
00123                 executed = true;
00124             }
00125 
00126             void result() { checkError(); return; }
00127         };
00128 
00129 
00137         template<class T>
00138         struct RStore : public RStore<void> {
00139             T arg;
00140             RStore() : arg() {}
00141 
00142             T& result() { checkError(); return arg; }
00143             operator T&() { return arg;}
00144 
00151             template<class F>
00152             void exec(F f) {
00153                 error = false;
00154                 try{
00155                     arg = f();
00156                 } catch (std::exception& e) {
00157                     log(Error) << "Exception raised while executing an operation : "  << e.what() << endlog();
00158                     error = true;
00159                 } catch (...) {
00160                     log(Error) << "Unknown exception raised while executing an operation." << endlog();
00161                     error = true;
00162                 }
00163                 executed = true;
00164             }
00165         };
00166 
00167         template<class T>
00168         struct RStore<T&> : public RStore<void>
00169         {
00170             T* arg;
00171             RStore() : arg() {}
00172 
00173             template<class F>
00174             void exec(F f) {
00175                 error = false;
00176                 try{
00177                     arg = &f();
00178                 } catch (std::exception& e) {
00179                     log(Error) << "Exception raised while executing an operation : "  << e.what() << endlog();
00180                     error = true;
00181                 } catch (...) {
00182                     log(Error) << "Unknown exception raised while executing an operation." << endlog();
00183                     error = true;
00184                 }
00185                 executed = true;
00186             }
00187 
00188             //bool operator()() { return executed; }
00189 
00190             T& result() { checkError(); return *arg; }
00191             operator T&() { checkError(); return *arg;}
00192         };
00193 
00194         template<class T>
00195         struct RStore<const T> : public RStore<void> {
00196             T arg;
00197             RStore() : arg() {}
00198 
00199             T& result() { checkError(); return arg; }
00200             operator T&() { checkError(); return arg;}
00201 
00208             template<class F>
00209             void exec(F f) {
00210                 error = false;
00211                 try{
00212                     arg = f();
00213                 } catch (std::exception& e) {
00214                     log(Error) << "Exception raised while executing an operation : "  << e.what() << endlog();
00215                     error = true;
00216                 } catch(...) {
00217                     log(Error) << "Unknown exception raised while executing an operation." << endlog();
00218                     error = true;
00219                 }
00220                 executed = true;
00221             }
00222 
00223         };
00224 
00225         template<class T>
00226         std::ostream& operator<<(std::ostream& o, RStore<T>& a) { o << "rarg:"<<a.result(); return o;}
00227 
00235         template<class Arg>
00236         struct is_arg_return : public mpl::false_ {};
00237 
00238         template<class T>
00239         struct is_arg_return<AStore<T&> > : public mpl::true_
00240         {};
00241 
00242         template<class T>
00243         struct is_arg_return<AStore<T const &> > : public mpl::false_
00244         {};
00245 
00246         template<>
00247         struct is_arg_return<RStore<void> > : public mpl::false_
00248         {};
00249 
00250         template<class T>
00251         struct is_arg_return<RStore<T> > : public mpl::true_
00252         {};
00253 
00257         template<class Arg>
00258         struct is_out_arg : public mpl::false_ {};
00259 
00260         template<class T>
00261         struct is_out_arg<AStore<T&> > : public mpl::true_
00262         {};
00263 
00264         template<class T>
00265         struct is_out_arg<AStore<T const &> > : public mpl::false_
00266         {};
00267 
00268         template<int, class T>
00269         struct BindStorageImpl;
00270 
00275         template<class ToBind>
00276         struct BindStorageImpl<0, ToBind>
00277         {
00278             typedef typename boost::function_traits<ToBind>::result_type result_type;
00279             typedef RStore<result_type> RStoreType;
00280 
00281             // stores the original function pointer
00282             boost::function<ToBind> mmeth;
00283             mutable RStore<result_type> retv;
00284             // the list of all our storage.
00285             bf::vector< RStore<result_type>&> vStore;
00286 #ifdef ORO_SIGNALLING_OPERATIONS
00287             typename Signal<ToBind>::shared_ptr msig;
00288 #endif
00289 
00290             BindStorageImpl() :  vStore(boost::ref(retv)) {}
00291             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv)
00292 #ifdef ORO_SIGNALLING_OPERATIONS
00293                                                          , msig(orig.msig)
00294 #endif
00295             {}
00296 
00297             void exec() {
00298 #ifdef ORO_SIGNALLING_OPERATIONS
00299                 if (msig) msig->emit();
00300 #endif
00301                 if (mmeth)
00302                     retv.exec( mmeth );
00303                 else
00304                     retv.executed = true;
00305             }
00306         };
00307 
00311         template<class ToBind>
00312         struct BindStorageImpl<1, ToBind>
00313         {
00314             typedef typename boost::function_traits<ToBind>::result_type result_type;
00315             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00316             typedef RStore<result_type> RStoreType;
00317 
00318             // stores the original function pointer, supplied by the user.
00319             boost::function<ToBind>  mmeth;
00320             // Store the argument.
00321             mutable AStore<arg1_type> a1;
00322             mutable RStore<result_type> retv;
00323             // the list of all our storage.
00324             bf::vector< RStore<result_type>&, AStore<arg1_type>& > vStore;
00325 #ifdef ORO_SIGNALLING_OPERATIONS
00326             typename Signal<ToBind>::shared_ptr msig;
00327 #endif
00328 
00329             BindStorageImpl() : vStore(retv,a1) {}
00330             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1)
00331 #ifdef ORO_SIGNALLING_OPERATIONS
00332                                                          , msig(orig.msig)
00333 #endif
00334             {}
00335             void store(arg1_type t1) { a1(t1); }
00336             void exec() {
00337 #ifdef ORO_SIGNALLING_OPERATIONS
00338                 if (msig) (*msig)(a1.get());
00339 #endif
00340                 if (mmeth)
00341                     retv.exec( boost::bind(mmeth, boost::ref(a1.get()) ) );
00342                 else
00343                     retv.executed = true;
00344             }
00345 
00346         };
00347 
00348         template<class ToBind>
00349         struct BindStorageImpl<2, ToBind>
00350         {
00351             typedef typename boost::function_traits<ToBind>::result_type result_type;
00352             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00353             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00354             typedef RStore<result_type> RStoreType;
00355 
00356             // stores the original function pointer
00357             boost::function<ToBind> mmeth;
00358             // Store the arguments.
00359             mutable AStore<arg1_type> a1;
00360             mutable AStore<arg2_type> a2;
00361             mutable RStore<result_type> retv;
00362             // the list of all our storage.
00363             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>& > vStore;
00364 #ifdef ORO_SIGNALLING_OPERATIONS
00365             typename Signal<ToBind>::shared_ptr msig;
00366 #endif
00367 
00368             BindStorageImpl() : vStore(retv,a1,a2) {}
00369             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2)
00370 #ifdef ORO_SIGNALLING_OPERATIONS
00371                                                          , msig(orig.msig)
00372 #endif
00373             {}
00374 
00375             void store(arg1_type t1, arg2_type t2) { a1(t1); a2(t2); }
00376             void exec() {
00377 #ifdef ORO_SIGNALLING_OPERATIONS
00378                 if (msig) (*msig)(a1.get(), a2.get());
00379 #endif
00380                 if (mmeth)
00381                     retv.exec( boost::bind(mmeth, boost::ref(a1.get()), boost::ref(a2.get()) ) );
00382                 else
00383                     retv.executed = true;
00384             }
00385 
00386         };
00387 
00388         template<class ToBind>
00389         struct BindStorageImpl<3, ToBind>
00390         {
00391             typedef typename boost::function_traits<ToBind>::result_type result_type;
00392             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00393             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00394             typedef typename boost::function_traits<ToBind>::arg3_type   arg3_type;
00395             typedef RStore<result_type> RStoreType;
00396 
00397             // stores the original function pointer
00398             boost::function<ToBind> mmeth;
00399             // Store the arguments.
00400             mutable AStore<arg1_type> a1;
00401             mutable AStore<arg2_type> a2;
00402             mutable AStore<arg3_type> a3;
00403             mutable RStore<result_type> retv;
00404             // the list of all our storage.
00405             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>&, AStore<arg3_type>& > vStore;
00406 #ifdef ORO_SIGNALLING_OPERATIONS
00407             typename Signal<ToBind>::shared_ptr msig;
00408 #endif
00409 
00410             BindStorageImpl() : vStore(retv,a1,a2,a3) {}
00411             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2,a3)
00412 #ifdef ORO_SIGNALLING_OPERATIONS
00413                                                          , msig(orig.msig)
00414 #endif
00415             {}
00416 
00417             void store(arg1_type t1, arg2_type t2, arg3_type t3) { a1(t1); a2(t2); a3(t3); }
00418             void exec() {
00419 #ifdef ORO_SIGNALLING_OPERATIONS
00420                 if (msig) (*msig)(a1.get(), a2.get(), a3.get());
00421 #endif
00422                 if (mmeth)
00423                     retv.exec( boost::bind(mmeth, boost::ref(a1.get()), boost::ref(a2.get()), boost::ref(a3.get()) ) );
00424                 else
00425                     retv.executed = true;
00426             }
00427         };
00428 
00429         template<class ToBind>
00430         struct BindStorageImpl<4, ToBind>
00431         {
00432             typedef typename boost::function_traits<ToBind>::result_type result_type;
00433             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00434             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00435             typedef typename boost::function_traits<ToBind>::arg3_type   arg3_type;
00436             typedef typename boost::function_traits<ToBind>::arg4_type   arg4_type;
00437             typedef RStore<result_type> RStoreType;
00438 
00439             // stores the original function pointer
00440             boost::function<ToBind> mmeth;
00441             // Store the arguments.
00442             mutable AStore<arg1_type> a1;
00443             mutable AStore<arg2_type> a2;
00444             mutable AStore<arg3_type> a3;
00445             mutable AStore<arg4_type> a4;
00446             mutable RStore<result_type> retv;
00447             // the list of all our storage.
00448             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>&, AStore<arg3_type>&, AStore<arg4_type>& > vStore;
00449 #ifdef ORO_SIGNALLING_OPERATIONS
00450             typename Signal<ToBind>::shared_ptr msig;
00451 #endif
00452 
00453             BindStorageImpl() : vStore(retv,a1,a2,a3,a4) {}
00454             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2,a3,a4)
00455 #ifdef ORO_SIGNALLING_OPERATIONS
00456                                                          , msig(orig.msig)
00457 #endif
00458             {}
00459 
00460             void store(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4) { a1(t1); a2(t2); a3(t3); a4(t4); }
00461             void exec() {
00462 #ifdef ORO_SIGNALLING_OPERATIONS
00463                 if (msig) (*msig)(a1.get(), a2.get(), a3.get(), a4.get());
00464 #endif
00465                 if (mmeth)
00466                     retv.exec( boost::bind( mmeth, boost::ref(a1.get()), boost::ref(a2.get()), boost::ref(a3.get()), boost::ref(a4.get()) ) );
00467                 else
00468                     retv.executed = true;
00469             }
00470         };
00471 
00472         template<class ToBind>
00473         struct BindStorageImpl<5, ToBind>
00474         {
00475             typedef typename boost::function_traits<ToBind>::result_type result_type;
00476             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00477             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00478             typedef typename boost::function_traits<ToBind>::arg3_type   arg3_type;
00479             typedef typename boost::function_traits<ToBind>::arg4_type   arg4_type;
00480             typedef typename boost::function_traits<ToBind>::arg5_type   arg5_type;
00481             typedef RStore<result_type> RStoreType;
00482 
00483             // stores the original function pointer
00484             boost::function<ToBind> mmeth;
00485             // Store the arguments.
00486             mutable AStore<arg1_type> a1;
00487             mutable AStore<arg2_type> a2;
00488             mutable AStore<arg3_type> a3;
00489             mutable AStore<arg4_type> a4;
00490             mutable AStore<arg5_type> a5;
00491             mutable RStore<result_type> retv;
00492             // the list of all our storage.
00493             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>&, AStore<arg3_type>&, AStore<arg4_type>&, AStore<arg5_type>& > vStore;
00494 #ifdef ORO_SIGNALLING_OPERATIONS
00495             typename Signal<ToBind>::shared_ptr msig;
00496 #endif
00497 
00498             BindStorageImpl() : vStore(retv,a1,a2,a3,a4,a5) {}
00499             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2,a3,a4,a5)
00500 #ifdef ORO_SIGNALLING_OPERATIONS
00501                                                          , msig(orig.msig)
00502 #endif
00503             {}
00504 
00505             void store(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5) { a1(t1); a2(t2); a3(t3); a4(t4); a5(t5);}
00506             void exec() {
00507 #ifdef ORO_SIGNALLING_OPERATIONS
00508                 if (msig) (*msig)(a1.get(), a2.get(), a3.get(), a4.get(), a5.get());
00509 #endif
00510                 if (mmeth)
00511                     retv.exec( boost::bind( mmeth, boost::ref(a1.get()), boost::ref(a2.get()), boost::ref(a3.get()), boost::ref(a4.get()), boost::ref(a5.get()) ) );
00512                 else
00513                     retv.executed = true;
00514             }
00515         };
00516 
00517         template<class ToBind>
00518         struct BindStorageImpl<6, ToBind>
00519         {
00520             typedef typename boost::function_traits<ToBind>::result_type result_type;
00521             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00522             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00523             typedef typename boost::function_traits<ToBind>::arg3_type   arg3_type;
00524             typedef typename boost::function_traits<ToBind>::arg4_type   arg4_type;
00525             typedef typename boost::function_traits<ToBind>::arg5_type   arg5_type;
00526             typedef typename boost::function_traits<ToBind>::arg6_type   arg6_type;
00527             typedef RStore<result_type> RStoreType;
00528 
00529             // stores the original function pointer
00530             boost::function<ToBind> mmeth;
00531             // Store the arguments.
00532             mutable AStore<arg1_type> a1;
00533             mutable AStore<arg2_type> a2;
00534             mutable AStore<arg3_type> a3;
00535             mutable AStore<arg4_type> a4;
00536             mutable AStore<arg5_type> a5;
00537             mutable AStore<arg6_type> a6;
00538             mutable RStore<result_type> retv;
00539             // the list of all our storage.
00540             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>&, AStore<arg3_type>&, AStore<arg4_type>&, AStore<arg5_type>&, AStore<arg6_type>& > vStore;
00541 #ifdef ORO_SIGNALLING_OPERATIONS
00542             typename Signal<ToBind>::shared_ptr msig;
00543 #endif
00544 
00545             BindStorageImpl() : vStore(retv,a1,a2,a3,a4,a5,a6) {}
00546             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2,a3,a4,a5,a6) 
00547 #ifdef ORO_SIGNALLING_OPERATIONS
00548                                                          , msig(orig.msig)
00549 #endif
00550             {}
00551 
00552             void store(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6) { a1(t1); a2(t2); a3(t3); a4(t4); a5(t5); a6(t6);}
00553             void exec() {
00554 #ifdef ORO_SIGNALLING_OPERATIONS
00555                 if (msig) (*msig)(a1.get(), a2.get(), a3.get(), a4.get(), a5.get(), a6.get());
00556 #endif
00557                 if (mmeth)
00558                     retv.exec( boost::bind( mmeth, boost::ref(a1.get()), boost::ref(a2.get()), boost::ref(a3.get()), boost::ref(a4.get()), boost::ref(a5.get()), boost::ref(a6.get()) ) );
00559                 else
00560                     retv.executed = true;
00561             }
00562         };
00563 
00564         template<class ToBind>
00565         struct BindStorageImpl<7, ToBind>
00566         {
00567             typedef typename boost::function_traits<ToBind>::result_type result_type;
00568             typedef typename boost::function_traits<ToBind>::arg1_type   arg1_type;
00569             typedef typename boost::function_traits<ToBind>::arg2_type   arg2_type;
00570             typedef typename boost::function_traits<ToBind>::arg3_type   arg3_type;
00571             typedef typename boost::function_traits<ToBind>::arg4_type   arg4_type;
00572             typedef typename boost::function_traits<ToBind>::arg5_type   arg5_type;
00573             typedef typename boost::function_traits<ToBind>::arg6_type   arg6_type;
00574             typedef typename boost::function_traits<ToBind>::arg7_type   arg7_type;
00575             typedef RStore<result_type> RStoreType;
00576 
00577             // stores the original function pointer
00578             boost::function<ToBind> mmeth;
00579             // Store the arguments.
00580             mutable AStore<arg1_type> a1;
00581             mutable AStore<arg2_type> a2;
00582             mutable AStore<arg3_type> a3;
00583             mutable AStore<arg4_type> a4;
00584             mutable AStore<arg5_type> a5;
00585             mutable AStore<arg6_type> a6;
00586             mutable AStore<arg7_type> a7;
00587             mutable RStore<result_type> retv;
00588             // the list of all our storage.
00589             bf::vector< RStore<result_type>&, AStore<arg1_type>&, AStore<arg2_type>&, AStore<arg3_type>&, AStore<arg4_type>&, AStore<arg5_type>&, AStore<arg6_type>&, AStore<arg7_type>& > vStore;
00590 #ifdef ORO_SIGNALLING_OPERATIONS
00591             typename Signal<ToBind>::shared_ptr msig;
00592 #endif
00593 
00594             BindStorageImpl() : vStore(retv,a1,a2,a3,a4,a5,a6,a7) {}
00595             BindStorageImpl(const BindStorageImpl& orig) : mmeth(orig.mmeth), vStore(retv,a1,a2,a3,a4,a5,a6,a7)
00596 #ifdef ORO_SIGNALLING_OPERATIONS
00597                                                          , msig(orig.msig)
00598 #endif
00599             {}
00600 
00601             void store(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6, arg7_type t7) { a1(t1); a2(t2); a3(t3); a4(t4); a5(t5); a6(t6); a7(t7);}
00602             void exec() {
00603 #ifdef ORO_SIGNALLING_OPERATIONS
00604                 if (msig) (*msig)(a1.get(), a2.get(), a3.get(), a4.get(), a5.get(), a6.get(), a7.get());
00605 #endif
00606                 if (mmeth)
00607                     retv.exec( boost::bind( mmeth, boost::ref(a1.get()), boost::ref(a2.get()), boost::ref(a3.get()), boost::ref(a4.get()), boost::ref(a5.get()), boost::ref(a6.get()), boost::ref(a7.get()) ) );
00608                 else
00609                     retv.executed = true;
00610             }
00611         };
00612 
00613 
00632         template<class ToBind>
00633         struct BindStorage
00634             : public BindStorageImpl<boost::function_traits<ToBind>::arity, ToBind>
00635         {
00636         };
00637     }
00638 }
00639 #endif


rtt
Author(s): RTT Developers
autogenerated on Fri Sep 9 2016 04:01:50