osaThreadAdapter.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*
  
  Author(s): Ankur Kapoor, Min Yang Jung
  Created on: 2004-04-30

  (C) Copyright 2004-2009 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _osaThreadAdapter_h
#define _osaThreadAdapter_h

#include <cisstCommon/cmnPortability.h>

template<class _objectType, class _callBackMethodType, class _userDataType>
struct osaCallBackBase {
    typedef osaCallBackBase osaCallBackBaseType;

    osaCallBackBase(_objectType* obj, _callBackMethodType callBackFunction,
                    _userDataType userData)
        : Obj(obj), CallBackFunction(callBackFunction), UserData(userData) {}


    _objectType* Obj;

    _callBackMethodType CallBackFunction;

    _userDataType UserData;
};


template<class _objectType, class _userDataType,
         class _callBackReturnType, class _callBackArgumentType >
struct osaHeapCallBack: public osaCallBackBase<_objectType, _callBackReturnType(_objectType::*)(_userDataType), _userDataType> {

    static osaHeapCallBack* Create(_objectType* obj,
                                   _callBackReturnType (_objectType::*callBackFunction)(_userDataType),
                                   _userDataType userData) {
        return new osaHeapCallBack(obj, callBackFunction, userData);
    }

    typedef osaCallBackBase<_objectType, _callBackReturnType(_objectType::*)(_userDataType), _userDataType> BaseType;

#if (CISST_OS == CISST_LINUX_RTAI) || (CISST_OS == CISST_LINUX) || (CISST_OS == CISST_DARWIN) || (CISST_OS == CISST_SOLARIS) || (CISST_OS == CISST_QNX) || (CISST_OS == CISST_LINUX_XENOMAI)
    static void * CallbackAndDestroy(_callBackArgumentType obj) {
        osaHeapCallBack* _this = (osaHeapCallBack*) obj;
        _callBackReturnType result = (_this->Obj->*_this->CallBackFunction)(_this->UserData);
        delete _this;
        return (void*)result;
    }
#elif (CISST_OS == CISST_WINDOWS)
    // To avoid including <windows.h>, use the unsigned long and __stdcall rather than
    //    DWORD and WINAPI, respectively. This is slightly risky, since <windows.h> could
    //    change, but that is not likely.
    static unsigned long __stdcall CallbackAndDestroy(_callBackArgumentType obj) {
        osaHeapCallBack* _this = (osaHeapCallBack*) obj;
        _callBackReturnType result = (_this->Obj->*_this->CallBackFunction)(_this->UserData );
        delete _this;
#if (CISST_COMPILER == CISST_GCC)
        return (unsigned long)(unsigned long long)result;  // For MingW64
#else
        return (unsigned long)result;
#endif
    }
#endif


protected:
    osaHeapCallBack( _objectType* obj,
                     _callBackReturnType (_objectType::*callBackFunction)(_userDataType),
                     _userDataType userData )
        : BaseType(obj, callBackFunction , userData) {}
};


#endif // _osaThreadAdapter_h