/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/

#ifndef ARIA_wrapper_Functors_h
#define ARIA_wrapper_Functors_h

/* For Python, define ArFunctor subclasses to hold Python C library
 * callable function objects.  These are used internally by the 
 * wrapper library, and typemaps convert target-language function 
 * objects to these ArFunctor subclasses-- you only need to pass
 * the function to Aria when in the C++ API you would pass a Functor.
 *
 * For Java, define subclasses of ArFunctor for various argument types,
 * since you can't access template classes in Java.  Then you can 
 * further subclass within Java and pass that object to Aria.
 */

#include "ArFunctor.h"

/* Functiors for Python: */

#ifdef SWIGPYTHON
class ArPyFunctor : public ArFunctor 
{
protected:
  PyObject* pyFunction;
public:
  ArPyFunctor(PyObject* _m) : pyFunction(_m) {
    Py_INCREF(pyFunction);
  }

  virtual void invoke() { 
    PyObject* r = PyObject_CallObject(pyFunction, NULL);
    if(!r) {
      fputs("** ArPyFunctor: Error calling Python function: ", stderr);
      PyErr_Print();
    }
  }

  virtual ~ArPyFunctor() {
    Py_DECREF(pyFunction);
  }

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


class ArPyRetFunctor_Bool : 
  public ArRetFunctor<bool>,
  public ArPyFunctor
{
public:
  ArPyRetFunctor_Bool(PyObject* _m) : ArRetFunctor<bool>(), ArPyFunctor(_m) {
  }

  virtual bool invokeR() {
    PyObject* r = PyObject_CallObject(pyFunction, NULL);  
    if(!r) {
      fputs("** ArPyRetFunctor_Bool: Error calling Python function: ", stderr);
      PyErr_Print();
    }
    return(r == Py_True);
  }

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

#endif // PYTHON




#endif // wrapperFunctors.h