/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program 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; either version 2 of the License, or
     (at your option) any later version.

     This program 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 General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"


/*
  TestClass - This class has 6 functions which are used to test out the
  functors.
*/

class TestClass
{
public:

  void function();
  void function(int arg1);
  void function(bool arg1, std::string arg2);

  bool retFunction();
  char * retFunction(int arg1);
  double retFunction(bool arg1, std::string arg2);
};


void TestClass::function()
{
  printf("TestClass::function\n");
}

void TestClass::function(int arg1)
{
  printf("TestClass::function(int arg1=%d)\n", arg1);
}

void TestClass::function(bool arg1, std::string arg2)
{
  printf("TestClass::function(bool arg1=%d, std::string arg2='%s')\n",
	 arg1, arg2.c_str());
}

bool TestClass::retFunction()
{
  printf("bool TestClass::retFunction\n");
  return(true);
}

char * TestClass::retFunction(int arg1)
{
  printf("char * TestClass::retFunction(int arg1=%d)\n", arg1);
  return("Hello");
}

double TestClass::retFunction(bool arg1, std::string arg2)
{
  printf("double TestClass::retFunction(bool arg1=%d, std::string arg2='%s')\n",
	 arg1, arg2.c_str());
  return(4.62);
}


/*
  Here are 6 global functions to test out the functors for non-member funtions.
*/
void function()
{
  printf("function\n");
}

void function(int arg1)
{
  printf("function(int arg1=%d)\n", arg1);
}

void function(bool arg1, std::string arg2)
{
  printf("function(bool arg1=%d, std::string arg2='%s')\n",
	 arg1, arg2.c_str());
}

bool retFunction()
{
  printf("bool retFunction\n");
  return(true);
}

char * retFunction(int arg1)
{
  printf("char * retFunction(int arg1=%d)\n", arg1);
  return("Hello");
}

double retFunction(bool arg1, std::string arg2)
{
  printf("double retFunction(bool arg1=%d, std::string arg2='%s')\n",
	 arg1, arg2.c_str());
  return(4.62);
}


/*
  Test functors with class member funtions
*/

// Direct invocation of the functors with supplying parameters.
void testDirect()
{
  TestClass test;
  ArFunctorC<TestClass> functor(test, &TestClass::function);
  ArFunctor1C<TestClass, int> functor1(test, &TestClass::function, 1);
  ArFunctor2C<TestClass, bool, std::string> functor2(test,
						     &TestClass::function,
						     false, "default arg");

  printf("\n****** Testing direct invocation using ArFunctor::invoke(...)\n");
  puts("> Should see TestClass::function()...");
  functor.invoke();
  puts("> Should see TestClass::function(1)...");
  functor1.invoke();
  puts("> Should see TestClass::function(5)...");
  functor1.invoke(5);
  puts("> Should see TestClass::function(true, \"argument 1\")...");
  functor2.invoke(true, "argument 1");
}

// Invocation of a base ArFunctor pointer to a functor. Because the pointer
// is of type ArFunctor, the parameters can not be supplied. The default
// parameters, which are supplied when the functor is constructed, are used.
void testBase()
{
  TestClass test;
  ArFunctor *fptr;
  ArFunctorC<TestClass> functor(test, &TestClass::function);
  ArFunctor1C<TestClass, int> functor1(test, &TestClass::function, 1);
  ArFunctor2C<TestClass, bool, std::string> functor2(test,
						     &TestClass::function,
						     false, "default arg");

  printf("\n****** Testing base invocation\n");
  fptr=&functor;
  puts("> Should see TestClass::function()...");
  fptr->invoke();
  fptr=&functor1;
  puts("> Should see TestClass::function(1)...");
  fptr->invoke();
  fptr=&functor2;
  puts("> Should see TestClass::function(false, \"default arg\")...");
  fptr->invoke();
}

// Invocation of pointers which supply the parameter type. Full invocation
// with paramters is posesible in this fashion with out knowing the class
// that the functor refers to.
void testParams()
{
  TestClass test;
  ArFunctorC<TestClass> functor(test, &TestClass::function);
  ArFunctor1C<TestClass, int> functor1(test, &TestClass::function);
  ArFunctor2C<TestClass, bool, std::string> functor2(test,
						     &TestClass::function);
  ArFunctor *fptr;
  ArFunctor1<int> *fptr1;
  ArFunctor2<bool, std::string> *fptr2;

  printf("\n****** Testing pointer invocation\n");
  fptr=&functor;
  puts("> Should see TestClass::function()...");
  fptr->invoke();
  fptr1=&functor1;
  puts("> Should see TestClass::function(2)...");
  fptr1->invoke(2);
  fptr2=&functor2;
  puts("> Should see TestClass::function(true, \"argument 2\")...");
  fptr2->invoke(true, "argument 2");
}


void setFunctorPtr(ArFunctor *f)
{
}

void setIntFunctorPtr(ArFunctor1<int> *f)
{
}

// It is possible to supply a more specialized ArFunctor class to a function
// that takes a plant ArFunctor pointer, since it will be
// implicitly cast to that parent class
void testDowncast()
{
  ArRetFunctor1C<char*, TestClass, int> f;
  ArFunctor* y = &f;
  setFunctorPtr(&f);
  setFunctorPtr(y);
}

/*
  Test functors with return values, ArRetFunctor
*/

// Direct invocation of the functors with return values and supplying
// parameters. It is not posesible to have the operator() for functors with
// return values. This is due to limitations of C++ and different C++
// compilers where you can not overload return values in all cases.
void testReturnDirect()
{
  TestClass test;
  ArRetFunctorC<bool, TestClass> functor(test, &TestClass::retFunction);
  ArRetFunctor1C<char*, TestClass, int>
    functor1(test, &TestClass::retFunction, 1);
  ArRetFunctor2C<double, TestClass, bool, std::string>
    functor2(test, &TestClass::retFunction, false, "default arg");
  bool bret;
  char *cret;
  double dret;

  //bret=test.retFunction();
  //cret=test.retFunction(4);
  //dret=test.retFunction(true, "foof");

  printf("\n****** Testing direct invocation with return\n");
  puts("> TestClass::retFunction() should return true...");
  bret=functor.invokeR();
  printf("Returned: %d\n", bret);
  puts("> TestClass::retFunction(5) should return \"Hello\"...");
  cret=functor1.invokeR(5);
  printf("Returned: %s\n", cret);
  puts("> TestClass::retFunction(true, \"argument 1\") should return 4.62...");
  dret=functor2.invokeR(true, "argument 1");
  printf("Returned: %e\n", dret);
}

void testReturnBase()
{
  TestClass test;
  ArRetFunctorC<bool, TestClass> functor(test, &TestClass::retFunction);
  ArRetFunctor1C<char*, TestClass, int>
    functor1(test, &TestClass::retFunction, 1);
  ArRetFunctor2C<double, TestClass, bool, std::string>
    functor2(test, &TestClass::retFunction, false, "default arg");
  ArRetFunctor<bool> *fBoolPtr;
  ArRetFunctor<char*> *fCharPtr;
  ArRetFunctor<double> *fDoublePtr;
  bool bret;
  char *cret;
  double dret;

  printf("\n****** Testing base invocation with return\n");
  fBoolPtr=&functor;
  puts("> TestClass::retFunction() should return true");
  bret=fBoolPtr->invokeR();
  printf("Returned: %d\n", bret);
  fCharPtr=&functor1;
  puts("> TestClass::retFunction(1) should return \"Hello\"");
  cret=fCharPtr->invokeR();
  printf("Returned: %s\n", cret);
  fDoublePtr=&functor2;
  puts("> TestClass::retFunction(false, \"default arg\" should return 4.62");
  dret=fDoublePtr->invokeR();
  printf("Returned: %e\n", dret);
}

void testReturnParams()
{
  TestClass test;
  ArRetFunctorC<bool, TestClass> functor(test, &TestClass::retFunction);
  ArRetFunctor1C<char*, TestClass, int>
    functor1(test, &TestClass::retFunction, 1);
  ArRetFunctor2C<double, TestClass, bool, std::string>
    functor2(test, &TestClass::retFunction, false, "default arg");
  ArRetFunctor<bool> *fBoolPtr;
  ArRetFunctor1<char*, int> *fCharPtr;
  ArRetFunctor2<double, bool, std::string> *fDoublePtr;
  bool bret;
  char *cret;
  double dret;

  printf("\n****** Testing pointer invocation with return\n");
  fBoolPtr=&functor;
  puts("> TestClass::retFunction() should return true");
  bret=fBoolPtr->invokeR();
  printf("Returned: %d\n", bret);
  fCharPtr=&functor1;
  puts("> TestClass::retFunction(7) should return \"Hello\"");
  cret=fCharPtr->invokeR(7);
  printf("Returned: %s\n", cret);
  fDoublePtr=&functor2;
  puts("> TestClass::retFunction(false, \"argument 3\") should return 4.62...");
  dret=fDoublePtr->invokeR(false, "argument 3");
  printf("Returned: %e\n", dret);
}


/*
  Test global functors, ArGlobalFunctor.
*/

// Direct invocation of the global functors with supplying parameters.
void testGlobalDirect()
{
  ArGlobalFunctor functor(&function);
  ArGlobalFunctor1<int> functor1(&function, 1);
  ArGlobalFunctor2<bool, std::string> functor2(&function,
					       false, "default arg");

  printf("\n****** Testing global direct invocation\n");
  puts("> Should see function()...");
  functor.invoke();
  puts("> Should see function(5)...");
  functor1.invoke(5);
  puts("> Should see function(true, \"argument 1\")...");
  functor2.invoke(true, "argument 1");
}

// Invocation of a base ArFunctor pointer to a global functor. Because the
// pointer is of type ArFunctor, the parameters can not be supplied. The
// default parameters, which are supplied when the functor is constructed,
// are used.
void testGlobalBase()
{
  ArFunctor *fptr;
  ArGlobalFunctor functor(function);
  ArGlobalFunctor1<int> functor1(function, 1);
  ArGlobalFunctor2<bool, std::string> functor2(function, false,
						"default arg");

  printf("\n****** Testing global base invocation\n");
  fptr=&functor;
  puts("> Should see function()...");
  fptr->invoke();
  fptr=&functor1;
  puts("> Should see function(1)...");
  fptr->invoke();
  fptr=&functor2;
  puts("> Should see function(false, \"default arg\")...");
  fptr->invoke();
}

// Invocation of pointers which supply the parameter type. Full invocation
// with paramters is posesible in this fashion with out knowing the class
// that the functor refers to.
void testGlobalParams()
{
  ArGlobalFunctor functor(function);
  ArGlobalFunctor1<int> functor1(function, 1);
  ArGlobalFunctor2<bool, std::string> functor2(function, false,
						"default arg");
  ArFunctor *fptr;
  ArFunctor1<int> *fptr1;
  ArFunctor2<bool, std::string> *fptr2;

  printf("\n****** Testing global pointer invocation\n");
  fptr=&functor;
  puts("> Should see function()...");
  fptr->invoke();
  fptr1=&functor1;
  puts("> Should see function(2)...");
  fptr1->invoke(2);
  fptr2=&functor2;
  puts("> Should see function(true, \"argument 2\")...");
  fptr2->invoke(true, "argument 2");
}


/*
  Test global functors with return, ArGlobalRetFunctor.
*/

// Direct invocation of the global functors with supplying parameters.
void testGlobalReturnDirect()
{
  ArGlobalRetFunctor<bool> functor(&retFunction);
  ArGlobalRetFunctor1<char*, int> functor1(&retFunction, 1);
  ArGlobalRetFunctor2<double, bool, std::string>
    functor2(&retFunction, false, "default arg");
  bool bret;
  char *cret;
  double dret;

  printf("\n****** Testing global direct invocation with return\n");
  puts("> bool retFunction() should return true...");
  bret=functor.invokeR();
  printf("Returned: %d\n", bret);
  puts("> char* retFunction(5) should return \"Hello\"...");
  cret=functor1.invokeR(5);
  printf("Returned: %s\n", cret);
  puts("> double retFunction(true, \"argument 1\") should return 4.62...");
  dret=functor2.invokeR(true, "argument 1");
  printf("Returned: %e\n", dret);
}

// Invocation of a base ArFunctor pointer to a global functor. Because the
// pointer is of type ArFunctor, the parameters can not be supplied. The
// default parameters, which are supplied when the functor is constructed,
// are used.
void testGlobalReturnBase()
{
  ArGlobalRetFunctor<bool> functor(retFunction);
  ArGlobalRetFunctor1<char*, int> functor1(retFunction, 1);
  ArGlobalRetFunctor2<double, bool, std::string>
    functor2(retFunction, false, "default arg");
  ArRetFunctor<bool> *fBoolPtr;
  ArRetFunctor<char*> *fCharPtr;
  ArRetFunctor<double> *fDoublePtr;
  bool bret;
  char *cret;
  double dret;

  printf("\n****** Testing global base invocation with return\n");
  fBoolPtr=&functor;
  puts("> bool retFunction() should return true...");
  bret=fBoolPtr->invokeR();
  printf("Returned: %d\n", bret);
  fCharPtr=&functor1;
  puts("> char* retFunction(1) should return \"Hello\"...");
  cret=fCharPtr->invokeR();
  printf("Returned: %s\n", cret);
  fDoublePtr=&functor2;
  puts("> double retFunction(false, \"default arg\") should return 4.62...");
  dret=fDoublePtr->invokeR();
  printf("Returned: %e\n", dret);
}

// Invocation of pointers which supply the parameter type. Full invocation
// with paramters is posesible in this fashion with out knowing the class
// that the functor refers to.
void testGlobalReturnParams()
{
  ArGlobalRetFunctor<bool> functor(retFunction);
  ArGlobalRetFunctor1<char*, int> functor1(retFunction, 1);
  ArGlobalRetFunctor2<double, bool, std::string>
    functor2(retFunction, false, "default arg");
  ArRetFunctor<bool> *fBoolPtr;
  ArRetFunctor1<char*, int> *fCharPtr;
  ArRetFunctor2<double, bool, std::string> *fDoublePtr;
  bool bret;
  char *cret;
  double dret;

  printf("\n****** Testing global pointer invocation with return\n");
  fBoolPtr=&functor;
  puts("> bool retFunction() should return true...");
  bret=fBoolPtr->invokeR();
  printf("Returned: %d\n", bret);
  fCharPtr=&functor1;
  puts("> char* retFunction(7) should return \"Hello\"...");
  cret=fCharPtr->invokeR(7);
  printf("Returned: %s\n", cret);
  fDoublePtr=&functor2;
  puts("> double retFunction(false, \"argument 3\") should return 4.62...");
  dret=fDoublePtr->invokeR(false, "argument 3");
  printf("Returned: %e\n", dret);
}


// main(). Drives this example by creating an instance of the TestClass and
// instances of functors. Then the functors are invoked.
int main()
{
  testDirect();
  testBase();
  testParams();
  testReturnDirect();
  testReturnBase();
  testReturnParams();
  testGlobalDirect();
  testGlobalBase();
  testGlobalParams();
  testGlobalReturnDirect();
  testGlobalReturnBase();
  testGlobalReturnParams();

  ArGlobalFunctor2<bool, std::string> f(&function);
  f.setP2("hello");
  f.invoke(true);

  return(0);
}