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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Utils moved to uavcan/util/*
This commit is contained in:
Pavel Kirienko
@@ -0,0 +1,110 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cassert>
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namespace uavcan
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{
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/**
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* Usage:
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* StaticAssert<expression>::check();
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*/
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template <bool Value>
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struct StaticAssert;
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template <>
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struct StaticAssert<true>
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{
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static void check() { }
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};
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/**
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* Usage:
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* ShowIntegerAsError<integer_expression>::foobar();
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*/
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template<long N> struct ShowIntegerAsError;
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/**
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* Prevents copying when inherited
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*/
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class Noncopyable
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{
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Noncopyable(const Noncopyable&);
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Noncopyable& operator=(const Noncopyable&);
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protected:
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Noncopyable() { }
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};
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/**
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* Compile time conditions
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*/
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template<bool B, typename T = void>
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struct EnableIf { };
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template<typename T>
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struct EnableIf<true, T> { typedef T Type; };
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template<typename T, typename R = void>
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struct EnableIfType { typedef R Type; };
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template <bool Condition, typename TrueType, typename FalseType>
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struct StaticIf;
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template <typename TrueType, typename FalseType>
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struct StaticIf<true, TrueType, FalseType>
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{
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typedef TrueType Result;
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};
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template <typename TrueType, typename FalseType>
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struct StaticIf<false, TrueType, FalseType>
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{
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typedef FalseType Result;
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};
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/**
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* Value types
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*/
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template<bool> struct BooleanType { };
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typedef BooleanType<true> TrueType;
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typedef BooleanType<false> FalseType;
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/**
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* Relations
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*/
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template <typename T1, typename T2>
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class IsImplicitlyConvertibleFromTo
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{
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template <typename U> static U returner();
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struct True_ { char x[2]; };
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struct False_ { };
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static True_ test(const T2 &);
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static False_ test(...);
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public:
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enum { Result = sizeof(True_) == sizeof(IsImplicitlyConvertibleFromTo<T1, T2>::test(returner<T1>())) };
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};
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template <typename From, typename To>
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struct TryImplicitCastImpl
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{
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static To impl(const From& from, const To&, TrueType) { return To(from); }
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static To impl(const From&, const To& default_, FalseType) { return default_; }
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};
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template <typename To, typename From>
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To try_implicit_cast(const From& from, const To& default_ = To())
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{
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return TryImplicitCastImpl<From, To>::impl(from, default_,
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BooleanType<IsImplicitlyConvertibleFromTo<From, To>::Result>());
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}
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}
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@@ -0,0 +1,148 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <cstdlib>
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#include <uavcan/internal/fatal_error.hpp>
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#include <uavcan/internal/impl_constants.hpp>
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namespace uavcan
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{
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template <typename T>
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class LazyConstructor
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{
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unsigned char data_[sizeof(T)] __attribute__((aligned(16))); // TODO: compiler-independent alignment
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T* ptr_;
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void ensureConstructed() const
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{
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if (!ptr_)
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handleFatalError("LazyConstructor<T> is not constructed");
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}
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void ensureNotConstructed() const
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{
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if (ptr_)
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handleFatalError("LazyConstructor<T> is already constructed");
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}
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template <typename U> struct ParamType { typedef const U& Type; };
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template <typename U> struct ParamType<U&> { typedef U& Type; };
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#if __cplusplus > 201100
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template <typename U> struct ParamType<U&&> { typedef U&& Type; };
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#endif
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public:
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LazyConstructor()
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: ptr_(NULL)
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{
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std::fill(data_, data_ + sizeof(T), 0);
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}
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LazyConstructor(const LazyConstructor<T>& rhs)
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: ptr_(NULL)
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{
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std::fill(data_, data_ + sizeof(T), 0);
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if (rhs)
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construct<const T&>(*rhs); // Invoke copy constructor
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}
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~LazyConstructor() { destroy(); }
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LazyConstructor<T>& operator=(const LazyConstructor<T>& rhs)
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{
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destroy();
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if (rhs)
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construct<const T&>(*rhs); // Invoke copy constructor
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return *this;
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}
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bool isConstructed() const { return ptr_ != NULL; }
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operator T*() const { return ptr_; }
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const T* operator->() const { ensureConstructed(); return ptr_; }
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T* operator->() { ensureConstructed(); return ptr_; }
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const T& operator*() const { ensureConstructed(); return *ptr_; }
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T& operator*() { ensureConstructed(); return *ptr_; }
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void destroy()
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{
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if (ptr_)
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ptr_->~T();
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ptr_ = NULL;
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std::fill(data_, data_ + sizeof(T), 0);
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}
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void construct()
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T();
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}
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// MAX_ARGS = 6
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// TEMPLATE = '''
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// template <%s>
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// void construct(%s)
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// {
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// ensureNotConstructed();
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// ptr_ = new (static_cast<void*>(data_)) T(%s);
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// }'''
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// for nargs in range(1, MAX_ARGS + 1):
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// nums = [(x + 1) for x in range(nargs)]
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// l1 = ['typename P%d' % x for x in nums]
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// l2 = ['typename ParamType<P%d>::Type p%d' % (x, x) for x in nums]
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// l3 = ['p%d' % x for x in nums]
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// print(TEMPLATE % (', '.join(l1), ', '.join(l2), ', '.join(l3)))
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template <typename P1>
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void construct(typename ParamType<P1>::Type p1)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1);
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}
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template <typename P1, typename P2>
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void construct(typename ParamType<P1>::Type p1, typename ParamType<P2>::Type p2)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1, p2);
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}
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template <typename P1, typename P2, typename P3>
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void construct(typename ParamType<P1>::Type p1, typename ParamType<P2>::Type p2, typename ParamType<P3>::Type p3)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1, p2, p3);
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}
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template <typename P1, typename P2, typename P3, typename P4>
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void construct(typename ParamType<P1>::Type p1, typename ParamType<P2>::Type p2, typename ParamType<P3>::Type p3,
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typename ParamType<P4>::Type p4)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1, p2, p3, p4);
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}
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template <typename P1, typename P2, typename P3, typename P4, typename P5>
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void construct(typename ParamType<P1>::Type p1, typename ParamType<P2>::Type p2, typename ParamType<P3>::Type p3,
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typename ParamType<P4>::Type p4, typename ParamType<P5>::Type p5)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1, p2, p3, p4, p5);
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}
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template <typename P1, typename P2, typename P3, typename P4, typename P5, typename P6>
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void construct(typename ParamType<P1>::Type p1, typename ParamType<P2>::Type p2, typename ParamType<P3>::Type p3,
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typename ParamType<P4>::Type p4, typename ParamType<P5>::Type p5, typename ParamType<P6>::Type p6)
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{
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ensureNotConstructed();
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ptr_ = new (static_cast<void*>(data_)) T(p1, p2, p3, p4, p5, p6);
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}
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};
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}
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@@ -0,0 +1,63 @@
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/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/internal/fatal_error.hpp>
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#include <uavcan/internal/impl_constants.hpp>
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#include <uavcan/util/compile_time.hpp>
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namespace uavcan
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{
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template <typename ObjectPtr, typename MemFunPtr>
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class MethodBinder
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{
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ObjectPtr obj_;
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MemFunPtr fun_;
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void validateBeforeCall() const
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{
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if (!operator bool())
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handleFatalError("Null method binder");
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}
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public:
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MethodBinder()
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: obj_()
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, fun_()
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{ }
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MethodBinder(ObjectPtr o, MemFunPtr f)
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: obj_(o)
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, fun_(f)
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{ }
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operator bool() const
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{
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return try_implicit_cast<bool>(obj_, true) && try_implicit_cast<bool>(fun_, true);
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}
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void operator()()
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{
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validateBeforeCall();
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(obj_->*fun_)();
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}
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template <typename Par1>
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void operator()(Par1 p1)
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{
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validateBeforeCall();
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(obj_->*fun_)(p1);
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}
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template <typename Par1, typename Par2>
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void operator()(Par1 p1, Par2 p2)
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{
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validateBeforeCall();
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(obj_->*fun_)(p1, p2);
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}
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};
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}
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