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Orocos Real-Time Toolkit
2.6.0
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00001 /*************************************************************************** 00002 tag: FMTC do nov 2 13:05:58 CET 2006 Invoker.hpp 00003 00004 Invoker.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 * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_INVOKER_HPP 00040 #define ORO_INVOKER_HPP 00041 00042 #include <boost/function.hpp> 00043 #include <boost/function_types/function_type.hpp> 00044 #include <boost/type_traits.hpp> 00045 #include "InvokerBase.hpp" 00046 #include "Return.hpp" 00047 00048 namespace RTT 00049 { 00050 namespace internal 00051 { 00052 template<int, class F, class BaseImpl> 00053 struct InvokerImpl; 00054 00060 template<class F, class BaseImpl> 00061 struct Invoker 00062 : public InvokerImpl<boost::function_traits<F>::arity, F, BaseImpl> 00063 {}; 00064 00065 template<class F, class BaseImpl> 00066 struct InvokerImpl<0,F,BaseImpl> 00067 : public Return<F,BaseImpl> // inherits from BaseImpl 00068 { 00069 typedef typename boost::function_traits<F>::result_type result_type; 00073 result_type call() 00074 { 00075 return BaseImpl::call_impl(); 00076 } 00077 00078 SendHandle<F> send() 00079 { 00080 return BaseImpl::send_impl(); 00081 } 00082 00083 }; 00084 00085 template<class F, class BaseImpl> 00086 struct InvokerImpl<1,F,BaseImpl> 00087 : public Return<F,BaseImpl> 00088 { 00089 typedef typename boost::function_traits<F>::result_type result_type; 00090 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00094 result_type call(arg1_type a1) 00095 { 00096 return BaseImpl::template call_impl<arg1_type>( a1 ); 00097 } 00098 result_type ret(arg1_type a1) 00099 { 00100 return BaseImpl::template ret_impl<arg1_type>( a1 ); 00101 } 00102 result_type ret() 00103 { 00104 return BaseImpl::ret_impl(); 00105 } 00106 SendHandle<F> send(arg1_type a1) 00107 { 00108 return BaseImpl::template send_impl<arg1_type>( a1 ); 00109 } 00110 }; 00111 00112 template<class F, class BaseImpl> 00113 struct InvokerImpl<2,F,BaseImpl> 00114 : public Return<F,BaseImpl> 00115 { 00116 typedef typename boost::function_traits<F>::result_type result_type; 00117 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00118 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00119 00123 result_type call(arg1_type t1, arg2_type t2) 00124 { 00125 return BaseImpl::template call_impl<arg1_type, arg2_type>(t1, t2); 00126 } 00127 00128 result_type ret(arg1_type t1, arg2_type t2) 00129 { 00130 return BaseImpl::template ret_impl<arg1_type, arg2_type>(t1, t2); 00131 } 00132 00133 result_type ret() 00134 { 00135 return BaseImpl::ret_impl(); 00136 } 00137 00138 SendHandle<F> send(arg1_type t1, arg2_type t2) 00139 { 00140 return BaseImpl::template send_impl<arg1_type, arg2_type>(t1, t2); 00141 } 00142 }; 00143 00144 template<class F, class BaseImpl> 00145 struct InvokerImpl<3,F,BaseImpl> 00146 : public Return<F,BaseImpl> 00147 { 00148 typedef typename boost::function_traits<F>::result_type result_type; 00149 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00150 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00151 typedef typename boost::function_traits<F>::arg3_type arg3_type; 00152 00156 result_type call(arg1_type t1, arg2_type t2, arg3_type t3) 00157 { 00158 return BaseImpl::template call_impl<arg1_type, arg2_type, arg3_type>(t1, t2, t3); 00159 } 00160 00161 result_type ret(arg1_type t1, arg2_type t2, arg3_type t3) 00162 { 00163 return BaseImpl::template ret_impl<arg1_type, arg2_type, arg3_type>(t1, t2, t3); 00164 } 00165 00166 result_type ret() 00167 { 00168 return BaseImpl::ret_impl(); 00169 } 00170 00171 SendHandle<F> send(arg1_type t1, arg2_type t2, arg3_type t3) 00172 { 00173 return BaseImpl::template send_impl<arg1_type, arg2_type, arg3_type>(t1, t2, t3); 00174 } 00175 00176 }; 00177 00178 template<class F, class BaseImpl> 00179 struct InvokerImpl<4,F,BaseImpl> 00180 : public Return<F,BaseImpl> 00181 { 00182 typedef typename boost::function_traits<F>::result_type result_type; 00183 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00184 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00185 typedef typename boost::function_traits<F>::arg3_type arg3_type; 00186 typedef typename boost::function_traits<F>::arg4_type arg4_type; 00187 00191 result_type call(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4) 00192 { 00193 return BaseImpl::template call_impl<arg1_type, arg2_type, arg3_type, arg4_type>(t1, t2, t3, t4); 00194 } 00195 00196 result_type ret(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4) 00197 { 00198 return BaseImpl::template ret_impl<arg1_type, arg2_type, arg3_type, arg4_type>(t1, t2, t3, t4); 00199 } 00200 00201 result_type ret() 00202 { 00203 return BaseImpl::ret_impl(); 00204 } 00205 00206 SendHandle<F> send(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4) 00207 { 00208 return BaseImpl::template send_impl<arg1_type, arg2_type, arg3_type, arg4_type>(t1, t2, t3, t4); 00209 } 00210 00211 }; 00212 00213 template<class F, class BaseImpl> 00214 struct InvokerImpl<5,F,BaseImpl> 00215 : public Return<F,BaseImpl> 00216 { 00217 typedef typename boost::function_traits<F>::result_type result_type; 00218 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00219 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00220 typedef typename boost::function_traits<F>::arg3_type arg3_type; 00221 typedef typename boost::function_traits<F>::arg4_type arg4_type; 00222 typedef typename boost::function_traits<F>::arg5_type arg5_type; 00223 00227 result_type call(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5) 00228 { 00229 return BaseImpl::template call_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type>(t1, t2, t3, t4, t5); 00230 } 00231 00232 result_type ret(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5) 00233 { 00234 return BaseImpl::template ret_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type>(t1, t2, t3, t4, t5); 00235 } 00236 00237 result_type ret() 00238 { 00239 return BaseImpl::ret_impl(); 00240 } 00241 00242 SendHandle<F> send(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5) 00243 { 00244 return BaseImpl::template send_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type>(t1, t2, t3, t4, t5); 00245 } 00246 00247 }; 00248 00249 template<class F, class BaseImpl> 00250 struct InvokerImpl<6,F,BaseImpl> 00251 : public Return<F,BaseImpl> 00252 { 00253 typedef typename boost::function_traits<F>::result_type result_type; 00254 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00255 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00256 typedef typename boost::function_traits<F>::arg3_type arg3_type; 00257 typedef typename boost::function_traits<F>::arg4_type arg4_type; 00258 typedef typename boost::function_traits<F>::arg5_type arg5_type; 00259 typedef typename boost::function_traits<F>::arg6_type arg6_type; 00260 00264 result_type call(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6) 00265 { 00266 return BaseImpl::template call_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type>(t1, t2, t3, t4, t5, t6); 00267 } 00268 00269 result_type ret(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6) 00270 { 00271 return BaseImpl::template ret_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type>(t1, t2, t3, t4, t5, t6); 00272 } 00273 00274 result_type ret() 00275 { 00276 return BaseImpl::ret_impl(); 00277 } 00278 00279 SendHandle<F> send(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6) 00280 { 00281 return BaseImpl::template send_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type>(t1, t2, t3, t4, t5, t6); 00282 } 00283 00284 }; 00285 00286 template<class F, class BaseImpl> 00287 struct InvokerImpl<7,F,BaseImpl> 00288 : public Return<F,BaseImpl> 00289 { 00290 typedef typename boost::function_traits<F>::result_type result_type; 00291 typedef typename boost::function_traits<F>::arg1_type arg1_type; 00292 typedef typename boost::function_traits<F>::arg2_type arg2_type; 00293 typedef typename boost::function_traits<F>::arg3_type arg3_type; 00294 typedef typename boost::function_traits<F>::arg4_type arg4_type; 00295 typedef typename boost::function_traits<F>::arg5_type arg5_type; 00296 typedef typename boost::function_traits<F>::arg6_type arg6_type; 00297 typedef typename boost::function_traits<F>::arg7_type arg7_type; 00298 00302 result_type call(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6, arg7_type t7) 00303 { 00304 return BaseImpl::template call_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type, arg7_type>(t1, t2, t3, t4, t5, t6, t7); 00305 } 00306 00307 result_type ret(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6, arg7_type t7) 00308 { 00309 return BaseImpl::template ret_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type, arg7_type>(t1, t2, t3, t4, t5, t6, t7); 00310 } 00311 00312 result_type ret() 00313 { 00314 return BaseImpl::ret_impl(); 00315 } 00316 00317 SendHandle<F> send(arg1_type t1, arg2_type t2, arg3_type t3, arg4_type t4, arg5_type t5, arg6_type t6, arg7_type t7) 00318 { 00319 return BaseImpl::template send_impl<arg1_type, arg2_type, arg3_type, arg4_type, arg5_type, arg6_type, arg7_type>(t1, t2, t3, t4, t5, t6, t7); 00320 } 00321 00322 }; 00323 00324 } 00325 } 00326 #endif
1.7.6.1