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Add a scope concept to the DSL words (#156)
Adds a new concept called `scope` to the NUClear DSL. This concept can be used to add words which will be able to know when they are running within a specific reaction. For example, if you want to have a DSL word that modifies how events are emitted within that task you can use this to track when the current task is one with that word. Then when another system needs to know if it is running in that context it can call the in_scope function.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| /* | ||
| * MIT License | ||
| * | ||
| * Copyright (c) 2024 NUClear Contributors | ||
| * | ||
| * This file is part of the NUClear codebase. | ||
| * See https://github.com/Fastcode/NUClear for further info. | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated | ||
| * documentation files (the "Software"), to deal in the Software without restriction, including without limitation the | ||
| * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to | ||
| * permit persons to whom the Software is furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the | ||
| * Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE | ||
| * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | ||
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR | ||
| * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
| */ | ||
|
|
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| #ifndef NUCLEAR_DSL_FUSION_PRE_RUN_FUSION_HPP | ||
| #define NUCLEAR_DSL_FUSION_PRE_RUN_FUSION_HPP | ||
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| #include "../../threading/ReactionTask.hpp" | ||
| #include "../operation/DSLProxy.hpp" | ||
| #include "FindWords.hpp" | ||
| #include "has_nuclear_dsl_method.hpp" | ||
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| namespace NUClear { | ||
| namespace dsl { | ||
| namespace fusion { | ||
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| /// Make a SFINAE type to check if a word has a pre_run method | ||
| HAS_NUCLEAR_DSL_METHOD(pre_run); | ||
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| // Default case where there are no pre_run words | ||
| template <typename Words> | ||
| struct PreRunFuser {}; | ||
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| // Case where there is only a single word remaining | ||
| template <typename Word> | ||
| struct PreRunFuser<std::tuple<Word>> { | ||
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| template <typename DSL> | ||
| static void pre_run(threading::ReactionTask& task) { | ||
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| // Run our remaining pre_run | ||
| Word::template pre_run<DSL>(task); | ||
| } | ||
| }; | ||
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| // Case where there is more 2 more more words remaining | ||
| template <typename Word1, typename Word2, typename... WordN> | ||
| struct PreRunFuser<std::tuple<Word1, Word2, WordN...>> { | ||
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| template <typename DSL> | ||
| static void pre_run(threading::ReactionTask& task) { | ||
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| // Run our pre_run | ||
| Word1::template pre_run<DSL>(task); | ||
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| // Run the rest of our pre_runs | ||
| PreRunFuser<std::tuple<Word2, WordN...>>::template pre_run<DSL>(task); | ||
| } | ||
| }; | ||
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| template <typename Word1, typename... WordN> | ||
| struct PreRunFusion : PreRunFuser<FindWords<has_pre_run, Word1, WordN...>> {}; | ||
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| } // namespace fusion | ||
| } // namespace dsl | ||
| } // namespace NUClear | ||
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| #endif // NUCLEAR_DSL_FUSION_PRE_RUN_FUSION_HPP |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,84 @@ | ||
| /* | ||
| * MIT License | ||
| * | ||
| * Copyright (c) 2024 NUClear Contributors | ||
| * | ||
| * This file is part of the NUClear codebase. | ||
| * See https://github.com/Fastcode/NUClear for further info. | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated | ||
| * documentation files (the "Software"), to deal in the Software without restriction, including without limitation the | ||
| * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to | ||
| * permit persons to whom the Software is furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the | ||
| * Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE | ||
| * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | ||
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR | ||
| * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | ||
| */ | ||
|
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| #ifndef NUCLEAR_DSL_FUSION_SCOPE_FUSION_HPP | ||
| #define NUCLEAR_DSL_FUSION_SCOPE_FUSION_HPP | ||
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| #include "../../threading/Reaction.hpp" | ||
| #include "../../util/tuplify.hpp" | ||
| #include "../operation/DSLProxy.hpp" | ||
| #include "FindWords.hpp" | ||
| #include "has_nuclear_dsl_method.hpp" | ||
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| namespace NUClear { | ||
| namespace dsl { | ||
| namespace fusion { | ||
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| /// Make a SFINAE type to check if a word has a scope method | ||
| HAS_NUCLEAR_DSL_METHOD(scope); | ||
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| /** | ||
| * This is our Function Fusion wrapper class that allows it to call scope functions. | ||
| * | ||
| * @tparam Function the scope function that we are wrapping for | ||
| * @tparam DSL the DSL that we pass to our scope function | ||
| */ | ||
| template <typename Function, typename DSL> | ||
| struct ScopeCaller { | ||
| static auto call(threading::ReactionTask& task) -> decltype(Function::template scope<DSL>(task)) { | ||
| return Function::template scope<DSL>(task); | ||
| } | ||
| }; | ||
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| // Default case where there are no scope words | ||
| template <typename Words> | ||
| struct ScopeFuser {}; | ||
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| // Case where there is at least one get word | ||
| template <typename Word1, typename... WordN> | ||
| struct ScopeFuser<std::tuple<Word1, WordN...>> { | ||
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| template <typename DSL, typename U = Word1> | ||
| static auto scope(threading::ReactionTask& task) | ||
| -> decltype(util::FunctionFusion<std::tuple<Word1, WordN...>, | ||
| decltype(std::forward_as_tuple(task)), | ||
| ScopeCaller, | ||
| std::tuple<DSL>, | ||
| 1>::call(task)) { | ||
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| // Perform our function fusion | ||
| return util::FunctionFusion<std::tuple<Word1, WordN...>, | ||
| decltype(std::forward_as_tuple(task)), | ||
| ScopeCaller, | ||
| std::tuple<DSL>, | ||
| 1>::call(task); | ||
| } | ||
| }; | ||
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| template <typename Word1, typename... WordN> | ||
| struct ScopeFusion : ScopeFuser<FindWords<has_scope, Word1, WordN...>> {}; | ||
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| } // namespace fusion | ||
| } // namespace dsl | ||
| } // namespace NUClear | ||
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| #endif // NUCLEAR_DSL_FUSION_SCOPE_FUSION_HPP |
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