Orocos Real-Time Toolkit  2.6.0
OperationInterfacePartFused.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  OperationInterfacePartFused.hpp
00003 
00004                         OperationInterfacePartFused.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
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00037 
00038 
00039 #ifndef ORO_OPERATION_INTERFACE_PART_FUSED_HPP
00040 #define ORO_OPERATION_INTERFACE_PART_FUSED_HPP
00041 
00042 
00043 #include <boost/shared_ptr.hpp>
00044 #include <boost/function_types/result_type.hpp>
00045 #include <boost/function_types/parameter_types.hpp>
00046 // Fusion behaviour changed at Boost 1.42
00047 #include <boost/version.hpp>
00048 #if BOOST_VERSION >= 104100
00049 // our code goes up to 7 FUSION_MAX_VECTOR_SIZE defaults to 10
00050 #ifndef BOOST_FUSION_UNFUSED_MAX_ARITY
00051 #define BOOST_FUSION_UNFUSED_MAX_ARITY 7
00052 #endif
00053 #include <boost/fusion/functional/generation/make_unfused.hpp>
00054 #else
00055 // our code goes up to 7 FUSION_MAX_VECTOR_SIZE defaults to 10
00056 #ifndef BOOST_FUSION_UNFUSED_GENERIC_MAX_ARITY
00057 #define BOOST_FUSION_UNFUSED_GENERIC_MAX_ARITY 7
00058 #endif
00059 #include <boost/fusion/include/make_unfused_generic.hpp>
00060 #endif
00061 
00062 #include <boost/lambda/lambda.hpp>
00063 
00064 #include <vector>
00065 #include <string>
00066 
00067 #include "DataSource.hpp"
00068 #include "CreateSequence.hpp"
00069 #include "FusedFunctorDataSource.hpp"
00070 #include "../OperationInterfacePart.hpp"
00071 #include "../FactoryExceptions.hpp"
00072 #include "../Operation.hpp"
00073 #include "../base/OperationCallerBase.hpp"
00074 
00080 namespace RTT
00081 {
00082     namespace internal {
00083 
00084         class RTT_API OperationInterfacePartHelper {
00085         public:
00086             static std::string description(base::OperationBase* ob);
00087             static std::vector<ArgumentDescription> getArgumentList(base::OperationBase* ob, const int arity, std::vector<std::string> const& types);
00088         };
00089 
00094         template<typename Signature>
00095         class OperationInterfacePartFused
00096             : public OperationInterfacePart
00097         {
00098             typedef typename boost::function_traits<Signature>::result_type result_type;
00100             typedef create_sequence<typename boost::function_types::parameter_types<Signature>::type> SequenceFactory;
00102             typedef create_sequence<typename boost::function_types::parameter_types<typename CollectType<Signature>::type>::type > CollectSequenceFactory;
00103             Operation<Signature>* op;
00104         public:
00105             OperationInterfacePartFused( Operation<Signature>* o)
00106                 : op(o)
00107             {
00108             }
00109 
00110             virtual std::string getName() const {
00111                 return op->getName();
00112             }
00113 
00114             virtual std::string description() const {
00115                 return OperationInterfacePartHelper::description( op );
00116             }
00117 
00118             virtual std::vector<ArgumentDescription> getArgumentList() const {
00119                 std::vector<std::string> types;
00120                 for (unsigned int i = 1; i <= OperationInterfacePartFused::arity(); ++i )
00121                     types.push_back( SequenceFactory::GetType(i) );
00122                 return OperationInterfacePartHelper::getArgumentList( op, OperationInterfacePartFused::arity(), types );
00123             }
00124 
00125             std::string resultType() const
00126             {
00127                 return DataSourceTypeInfo<result_type>::getType() + DataSourceTypeInfo<result_type>::getQualifier();
00128             }
00129 
00130             unsigned int arity() const { return boost::function_traits<Signature>::arity; }
00131 
00132             const types::TypeInfo* getArgumentType(unsigned int arg) const
00133             {
00134                 if (arg == 0 )
00135                     return internal::DataSourceTypeInfo<result_type>::getTypeInfo();
00136                 return SequenceFactory::GetTypeInfo(arg);
00137             }
00138 
00139             unsigned int collectArity() const { return boost::function_traits< typename CollectType<Signature>::type >::arity; }
00140 
00141             const types::TypeInfo* getCollectType(unsigned int arg) const
00142             {
00143                 return CollectSequenceFactory::GetTypeInfo(arg);
00144             }
00145 
00146             base::DataSourceBase::shared_ptr produce(
00147                             const std::vector<base::DataSourceBase::shared_ptr>& args, ExecutionEngine* caller) const
00148             {
00149                 // convert our args and signature into a boost::fusion Sequence.
00150                 if ( args.size() != OperationInterfacePartFused::arity() )
00151                     throw wrong_number_of_args_exception(OperationInterfacePartFused::arity(), args.size() );
00152                 return new FusedMCallDataSource<Signature>(typename base::OperationCallerBase<Signature>::shared_ptr(op->getOperationCaller()->cloneI(caller)), SequenceFactory::sources(args.begin()) );
00153             }
00154 
00155             virtual base::DataSourceBase::shared_ptr produceSend( const std::vector<base::DataSourceBase::shared_ptr>& args, ExecutionEngine* caller ) const {
00156                 // convert our args and signature into a boost::fusion Sequence.
00157                 if ( args.size() != OperationInterfacePartFused::arity() ) throw wrong_number_of_args_exception(OperationInterfacePartFused::arity(), args.size() );
00158                 return new FusedMSendDataSource<Signature>(typename base::OperationCallerBase<Signature>::shared_ptr(op->getOperationCaller()->cloneI(caller)), SequenceFactory::sources(args.begin()) );
00159             }
00160 
00161             virtual base::DataSourceBase::shared_ptr produceHandle() const {
00162                 // Because of copy/clone,program script variables ('var') must begin unbound.
00163                 return new internal::UnboundDataSource<ValueDataSource<SendHandle<Signature> > >();
00164             }
00165 
00166             virtual base::DataSourceBase::shared_ptr produceCollect( const std::vector<base::DataSourceBase::shared_ptr>& args, DataSource<bool>::shared_ptr blocking ) const {
00167                 const unsigned int carity = boost::mpl::size<typename FusedMCollectDataSource<Signature>::handle_and_arg_types>::value;
00168                 assert( carity == collectArity() + 1 ); // check for arity functions. (this is actually a compile time assert).
00169                 if ( args.size() != carity ) throw wrong_number_of_args_exception(carity, args.size() );
00170                 // we need to ask FusedMCollectDataSource what the arg types are, based on the collect signature.
00171                 return new FusedMCollectDataSource<Signature>( create_sequence<typename FusedMCollectDataSource<Signature>::handle_and_arg_types >::sources(args.begin()), blocking );
00172             }
00173 
00174 #ifdef ORO_SIGNALLING_OPERATIONS
00175             virtual Handle produceSignal( base::ActionInterface* func, const std::vector<base::DataSourceBase::shared_ptr>& args) const {
00176                 // convert our args and signature into a boost::fusion Sequence.
00177                 if ( args.size() != OperationInterfacePartFused::arity() ) throw wrong_number_of_args_exception(OperationInterfacePartFused::arity(), args.size() );
00178                 // note: in boost 1.41.0+ the function make_unfused() is available.
00179 #if BOOST_VERSION >= 104100
00180                 return op->signals( boost::fusion::make_unfused(boost::bind(&FusedMSignal<Signature>::invoke,
00181                                                                             boost::make_shared<FusedMSignal<Signature> >(func, SequenceFactory::assignable(args.begin())),
00182                                                                             boost::lambda::_1
00183                                                                             )
00184                                                                 )
00185                                    );
00186 #else
00187                 return op->signals( boost::fusion::make_unfused_generic(boost::bind(&FusedMSignal<Signature>::invoke,
00188                                                                             boost::make_shared<FusedMSignal<Signature> >(func, SequenceFactory::assignable(args.begin())),
00189                                                                             boost::lambda::_1
00190                                                                             )
00191                                                                 )
00192                                    );
00193 #endif
00194             }
00195 #endif
00196             boost::shared_ptr<base::DisposableInterface> getLocalOperation() const {
00197                 return op->getImplementation();
00198             }
00199         };
00200 
00206         template<typename Signature>
00207         class SynchronousOperationInterfacePartFused
00208             : public OperationInterfacePart
00209         {
00210             typedef typename boost::function_traits<Signature>::result_type result_type;
00212             typedef create_sequence<typename boost::function_types::parameter_types<Signature>::type> SequenceFactory;
00214             typedef create_sequence<typename boost::function_types::parameter_types<typename CollectType<Signature>::type>::type > CollectSequenceFactory;
00215             Operation<Signature>* op;
00216         public:
00217             SynchronousOperationInterfacePartFused( Operation<Signature>* o)
00218                 : op(o)
00219             {
00220             }
00221 
00222             virtual base::DataSourceBase::shared_ptr produceSend(const std::vector<base::DataSourceBase::shared_ptr>& args, ExecutionEngine* caller) const
00223             { throw no_asynchronous_operation_exception("cannot use produceSend on synchronous operations"); }
00224             virtual base::DataSourceBase::shared_ptr produceCollect(const std::vector<base::DataSourceBase::shared_ptr>& args, internal::DataSource<bool>::shared_ptr blocking) const
00225             { throw no_asynchronous_operation_exception("cannot use produceCollect on synchronous operations"); }
00226 #ifdef ORO_SIGNALLING_OPERATIONS
00227             virtual Handle produceSignal( base::ActionInterface* func, const std::vector<base::DataSourceBase::shared_ptr>& args) const
00228             { throw no_asynchronous_operation_exception("cannot use produceSignal on synchronous operations"); }
00229 #endif
00230             virtual base::DataSourceBase::shared_ptr produceHandle() const
00231             { throw no_asynchronous_operation_exception("cannot use produceHandle on synchronous operations"); }
00232 
00233             virtual std::string getName() const {
00234                 return op->getName();
00235             }
00236             virtual std::string description() const {
00237                 return OperationInterfacePartHelper::description( op );
00238             }
00239 
00240             virtual std::vector<ArgumentDescription> getArgumentList() const {
00241                 std::vector<std::string> types;
00242                 for (unsigned int i = 1; i <= SynchronousOperationInterfacePartFused::arity(); ++i )
00243                     types.push_back( SequenceFactory::GetType(i) );
00244                 return OperationInterfacePartHelper::getArgumentList( op, SynchronousOperationInterfacePartFused::arity(), types );
00245             }
00246 
00247             std::string resultType() const
00248             {
00249                 return DataSourceTypeInfo<result_type>::getType() + DataSourceTypeInfo<result_type>::getQualifier();
00250             }
00251 
00252             unsigned int arity() const { return boost::function_traits<Signature>::arity; }
00253 
00254             const types::TypeInfo* getArgumentType(unsigned int arg) const
00255             {
00256                 if (arg == 0 )
00257                     return internal::DataSourceTypeInfo<result_type>::getTypeInfo();
00258                 return SequenceFactory::GetTypeInfo(arg);
00259             }
00260 
00261             unsigned int collectArity() const { return boost::function_traits< typename CollectType<Signature>::type >::arity; }
00262 
00263             const types::TypeInfo* getCollectType(unsigned int arg) const
00264             {
00265                 return CollectSequenceFactory::GetTypeInfo(arg);
00266             }
00267 
00268             base::DataSourceBase::shared_ptr produce(
00269                             const std::vector<base::DataSourceBase::shared_ptr>& args, ExecutionEngine* caller) const
00270             {
00271                 // convert our args and signature into a boost::fusion Sequence.
00272                 if ( args.size() != SynchronousOperationInterfacePartFused::arity() )
00273                     throw wrong_number_of_args_exception(SynchronousOperationInterfacePartFused::arity(), args.size() );
00274                 return new FusedMCallDataSource<Signature>(typename base::OperationCallerBase<Signature>::shared_ptr(op->getOperationCaller()->cloneI(caller)), SequenceFactory::sources(args.begin()) );
00275             }
00276 
00277             boost::shared_ptr<base::DisposableInterface> getLocalOperation() const {
00278                 return op->getImplementation();
00279             }
00280         };
00281 
00290             template<typename Signature,typename ObjT>
00291             class OperationInterfacePartFusedDS
00292                 : public OperationInterfacePart
00293             {
00294                 typedef create_sequence<typename boost::function_types::parameter_types<Signature>::type> SequenceFactory;
00295                 typedef create_sequence<typename boost::function_types::parameter_types<typename CollectType<Signature>::type>::type > CollectSequenceFactory;
00296                 typedef typename boost::function_traits<Signature>::result_type result_type;
00297                 Operation<Signature>* op;
00298                 // the datasource that stores a weak pointer is itself stored by a shared_ptr.
00299                 typename DataSource<boost::shared_ptr<ObjT> >::shared_ptr mwp;
00300             public:
00301                 OperationInterfacePartFusedDS( DataSource< boost::shared_ptr<ObjT> >* wp, Operation<Signature>* o)
00302                     : op( o ), mwp(wp)
00303                 {
00304                 }
00305 
00306                 typedef std::vector<base::DataSourceBase::shared_ptr> ArgList;
00307 
00308                 std::string resultType() const
00309                 {
00310                     return DataSourceTypeInfo<result_type>::getType() + DataSourceTypeInfo<result_type>::getQualifier();
00311                 }
00312 
00313                 unsigned int arity() const { return boost::function_traits<Signature>::arity - 1;/*lie about the hidden member pointer */ }
00314 
00315                 const types::TypeInfo* getArgumentType(unsigned int arg) const
00316                 {
00317                     if (arg == 0 )
00318                         return internal::DataSourceTypeInfo<result_type>::getTypeInfo();
00319                     return SequenceFactory::GetTypeInfo(arg);
00320                 }
00321 
00322                 unsigned int collectArity() const { return boost::function_traits< typename CollectType<Signature>::type >::arity; }
00323 
00324                 const types::TypeInfo* getCollectType(unsigned int arg) const
00325                 {
00326                     return CollectSequenceFactory::GetTypeInfo(arg);
00327                 }
00328 
00329                 virtual std::string getName() const {
00330                     return op->getName();
00331                 }
00332 
00333                 virtual std::string description() const {
00334                     return op->getDescriptions().front();
00335                 }
00336 
00337                 virtual std::vector<ArgumentDescription> getArgumentList() const {
00338                     std::vector<std::string> descr = op->getDescriptions();
00339                     std::vector<ArgumentDescription> ret;
00340                     descr.resize( 1 + arity() * 2 );
00341                     for (unsigned int i =1; i < descr.size(); i +=2 )
00342                         ret.push_back(ArgumentDescription(descr[i],descr[i+1], SequenceFactory::GetType((i-1)/2+2)) );
00343                     return ret;
00344                 }
00345 
00346                 base::DataSourceBase::shared_ptr produce(ArgList const& args, ExecutionEngine* caller) const
00347                 {
00348                     if ( args.size() != arity() ) throw wrong_number_of_args_exception(arity(), args.size() );
00349                     // the user won't give the necessary object argument, so we glue it in front.
00350                     ArgList a2;
00351                     a2.reserve(args.size()+1);
00352                     a2.push_back(mwp);
00353                     a2.insert(a2.end(), args.begin(), args.end());
00354                     // convert our args and signature into a boost::fusion Sequence.
00355                     return new FusedMCallDataSource<Signature>(typename base::OperationCallerBase<Signature>::shared_ptr(op->getOperationCaller()->cloneI(caller)), SequenceFactory::sources(a2.begin()) );
00356                 }
00357 
00358                 virtual base::DataSourceBase::shared_ptr produceSend( const std::vector<base::DataSourceBase::shared_ptr>& args, ExecutionEngine* caller ) const {
00359                     if ( args.size() != arity() ) throw wrong_number_of_args_exception(arity(), args.size() );
00360                     // the user won't give the necessary object argument, so we glue it in front.
00361                     ArgList a2;
00362                     a2.reserve(args.size()+1);
00363                     a2.push_back(mwp);
00364                     a2.insert(a2.end(), args.begin(), args.end());
00365                     // convert our args and signature into a boost::fusion Sequence.
00366                     return new FusedMSendDataSource<Signature>(typename base::OperationCallerBase<Signature>::shared_ptr(op->getOperationCaller()->cloneI(caller)), SequenceFactory::sources(a2.begin()) );
00367                 }
00368 
00369                 virtual base::DataSourceBase::shared_ptr produceHandle() const {
00370                     // Because of copy/clone,value objects must begin unbound.
00371                     return new internal::UnboundDataSource<ValueDataSource<SendHandle<Signature> > >();
00372                 }
00373 
00374                 virtual base::DataSourceBase::shared_ptr produceCollect( const std::vector<base::DataSourceBase::shared_ptr>& args, DataSource<bool>::shared_ptr blocking ) const {
00375                     const unsigned int carity = boost::mpl::size<typename FusedMCollectDataSource<Signature>::handle_and_arg_types>::value;
00376                     assert( carity == collectArity() + 1 ); // check for arity functions. (this is actually a compile time assert).
00377                     if ( args.size() != carity ) throw wrong_number_of_args_exception(carity, args.size() );
00378                     // we need to ask FusedMCollectDataSource what the arg types are, based on the collect signature.
00379                     return new FusedMCollectDataSource<Signature>( create_sequence<typename FusedMCollectDataSource<Signature>::handle_and_arg_types >::sources(args.begin()), blocking );
00380                 }
00381 #ifdef ORO_SIGNALLING_OPERATIONS
00382                 virtual Handle produceSignal( base::ActionInterface* func, const std::vector<base::DataSourceBase::shared_ptr>& args) const {
00383                     if ( args.size() != arity() ) throw wrong_number_of_args_exception(arity(), args.size() );
00384                     // the user won't give the necessary object argument, so we glue it in front.
00385                     ArgList a2;
00386                     a2.reserve(args.size()+1);
00387                     a2.push_back(mwp);
00388                     a2.insert(a2.end(), args.begin(), args.end());
00389                     // note: in boost 1.41.0+ the function make_unfused() is available.
00390     #if BOOST_VERSION >= 104100
00391                     return op->signals( boost::fusion::make_unfused(boost::bind(&FusedMSignal<Signature>::invoke,
00392                                                                                 boost::make_shared<FusedMSignal<Signature> >(func, SequenceFactory::assignable(args.begin())),
00393                                                                                 _1
00394                                                                                 )
00395                                                                     )
00396                                        );
00397     #else
00398                     return op->signals( boost::fusion::make_unfused_generic(boost::bind(&FusedMSignal<Signature>::invoke,
00399                                                                                 boost::make_shared<FusedMSignal<Signature> >(func, SequenceFactory::assignable(args.begin())),
00400                                                                                 _1
00401                                                                                 )
00402                                                                     )
00403                                        );
00404     #endif
00405                 }
00406 #endif
00407                 boost::shared_ptr<base::DisposableInterface> getLocalOperation() const {
00408                     return op->getImplementation();
00409                 }
00410             };
00411     }
00412 }
00413 
00414 #endif