gtsam/wrap/Class.cpp

/* ---------------------------------------------------------------------------- 
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,  
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved 
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list) 
 
 * See LICENSE for the license information 
 
 * -------------------------------------------------------------------------- */ 
 
/** 
 * @file Class.cpp 
 * @author Frank Dellaert 
 * @author Andrew Melim 
 * @author Richard Roberts
 **/ 
 
#include <vector> 
#include <iostream> 
#include <fstream> 
//#include <cstdint> // on Linux GCC: fails with error regarding needing C++0x std flags 
//#include <cinttypes> // same failure as above 
#include <stdint.h> // works on Linux GCC 
 
#include <boost/foreach.hpp> 
#include <boost/lexical_cast.hpp> 
 
#include "Class.h" 
#include "utilities.h" 
#include "Argument.h" 
 
using namespace std; 
using namespace wrap; 
 
/* ************************************************************************* */ 
void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName, 
                         const TypeAttributesTable& typeAttributes, 
                         FileWriter& wrapperFile, vector<string>& functionNames) const { 
   
  // Create namespace folders 
  createNamespaceStructure(namespaces, toolboxPath); 
 
  // open destination classFile 
  string classFile = toolboxPath; 
  if(!namespaces.empty()) 
    classFile += "/+" + wrap::qualifiedName("/+", namespaces); 
  classFile += "/" + name + ".m"; 
  FileWriter proxyFile(classFile, verbose_, "%"); 
 
  // get the name of actual matlab object 
  const string matlabQualName = qualifiedName("."), matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); 
  const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent); 
  const string cppBaseName = wrap::qualifiedName("::", qualifiedParent); 
 
  // emit class proxy code 
  // we want our class to inherit the handle class for memory purposes 
  const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName; 
  comment_fragment(proxyFile);
  proxyFile.oss << "classdef " << name << " < " << parent << endl; 
  proxyFile.oss << "  properties\n";
  proxyFile.oss << "    ptr_" << matlabUniqueName << " = 0\n";
  proxyFile.oss << "  end\n";
  proxyFile.oss << "  methods\n";
 
  // Constructor 
  proxyFile.oss << "    function obj = " << name << "(varargin)\n";
  // Special pointer constructors - one in MATLAB to create an object and 
  // assign a pointer returned from a C++ function.  In turn this MATLAB 
  // constructor calls a special C++ function that just adds the object to 
  // its collector.  This allows wrapped functions to return objects in 
  // other wrap modules - to add these to their collectors the pointer is 
  // passed from one C++ module into matlab then back into the other C++ 
  // module. 
  pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, functionNames); 
  wrapperFile.oss << "\n"; 
  // Regular constructors 
  BOOST_FOREACH(ArgumentList a, constructor.args_list) 
  { 
    const int id = (int)functionNames.size(); 
    constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a); 
    const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile, 
      cppName, matlabUniqueName, cppBaseName, id, a); 
    wrapperFile.oss << "\n"; 
    functionNames.push_back(wrapFunctionName); 
  } 
  proxyFile.oss << "      else\n"; 
  proxyFile.oss << "        error('Arguments do not match any overload of " << matlabQualName << " constructor');\n";
  proxyFile.oss << "      end\n"; 
  if(!qualifiedParent.empty()) 
    proxyFile.oss << "      obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n"; 
  proxyFile.oss << "      obj.ptr_" << matlabUniqueName << " = my_ptr;\n"; 
  proxyFile.oss << "    end\n\n"; 
 
  // Deconstructor 
  { 
    const int id = (int)functionNames.size(); 
    deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id); 
    proxyFile.oss << "\n"; 
    const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id); 
    wrapperFile.oss << "\n"; 
    functionNames.push_back(functionName); 
  } 
  proxyFile.oss << "    function display(obj), obj.print(''); end\n    %DISPLAY Calls print on the object\n"; 
  proxyFile.oss << "    function disp(obj), obj.display; end\n    %DISP Calls print on the object\n"; 
 
  // Methods 
  BOOST_FOREACH(const Methods::value_type& name_m, methods) { 
    const Method& m = name_m.second; 
    m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); 
    proxyFile.oss << "\n"; 
    wrapperFile.oss << "\n"; 
  } 
 
  proxyFile.oss << "  end\n"; 
  proxyFile.oss << "\n"; 
  proxyFile.oss << "  methods(Static = true)\n"; 
 
  // Static methods 
  BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { 
    const StaticMethod& m = name_m.second; 
    m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames); 
    proxyFile.oss << "\n"; 
    wrapperFile.oss << "\n"; 
  } 
 
  proxyFile.oss << "  end\n";
  proxyFile.oss << "end\n";
 
  // Close file 
  proxyFile.emit(true); 
} 
 
/* ************************************************************************* */ 
string Class::qualifiedName(const string& delim) const { 
  return ::wrap::qualifiedName(delim, namespaces, name); 
} 
 
/* ************************************************************************* */ 
void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector<string>& functionNames) const { 
 
  const string matlabUniqueName = qualifiedName(), cppName = qualifiedName("::"); 
  const string baseCppName = wrap::qualifiedName("::", qualifiedParent); 
 
  const int collectorInsertId = (int)functionNames.size(); 
  const string collectorInsertFunctionName = matlabUniqueName + "_collectorInsertAndMakeBase_" + boost::lexical_cast<string>(collectorInsertId); 
  functionNames.push_back(collectorInsertFunctionName); 
 
  int upcastFromVoidId; 
  string upcastFromVoidFunctionName; 
  if(isVirtual) { 
    upcastFromVoidId = (int)functionNames.size(); 
    upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_" + boost::lexical_cast<string>(upcastFromVoidId); 
    functionNames.push_back(upcastFromVoidFunctionName); 
  } 
 
  // MATLAB constructor that assigns pointer to matlab object then calls c++ 
  // function to add the object to the collector. 
  if(isVirtual) { 
    proxyFile.oss << "      if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"; 
  } else { 
    proxyFile.oss << "      if nargin == 2"; 
  } 
  proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(" << ptr_constructor_key << ")\n"; 
  if(isVirtual) { 
    proxyFile.oss << "        if nargin == 2\n"; 
    proxyFile.oss << "          my_ptr = varargin{2};\n"; 
    proxyFile.oss << "        else\n"; 
    proxyFile.oss << "          my_ptr = " << wrapperName << "(" << upcastFromVoidId << ", varargin{2});\n"; 
    proxyFile.oss << "        end\n"; 
  } else { 
    proxyFile.oss << "        my_ptr = varargin{2};\n"; 
  } 
  if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back 
    proxyFile.oss << "        "; 
  else 
    proxyFile.oss << "        base_ptr = "; 
  proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr 
 
  // C++ function to add pointer from MATLAB to collector.  The pointer always 
  // comes from a C++ return value; this mechanism allows the object to be added 
  // to a collector in a different wrap module.  If this class has a base class, 
  // a new pointer to the base class is allocated and returned. 
  wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
  wrapperFile.oss << "{\n"; 
  wrapperFile.oss << "  mexAtExit(&_deleteAllObjects);\n"; 
  // Typedef boost::shared_ptr 
  wrapperFile.oss << "  typedef boost::shared_ptr<" << cppName << "> Shared;\n"; 
  wrapperFile.oss << "\n"; 
  // Get self pointer passed in 
  wrapperFile.oss << "  Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));\n"; 
  // Add to collector 
  wrapperFile.oss << "  collector_" << matlabUniqueName << ".insert(self);\n"; 
  // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) 
  if(!qualifiedParent.empty()) { 
    wrapperFile.oss << "\n"; 
    wrapperFile.oss << "  typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n"; 
    wrapperFile.oss << "  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"; 
    wrapperFile.oss << "  *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);\n"; 
  } 
  wrapperFile.oss << "}\n"; 
 
  // If this is a virtual function, C++ function to dynamic upcast it from a 
  // shared_ptr<void>.  This mechanism allows automatic dynamic creation of the 
  // real underlying derived-most class when a C++ method returns a virtual 
  // base class. 
  if(isVirtual) 
    wrapperFile.oss << 
    "\n" 
    "void " << upcastFromVoidFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n" 
    "  mexAtExit(&_deleteAllObjects);\n" 
    "  typedef boost::shared_ptr<" << cppName << "> Shared;\n" 
    "  boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));\n" 
    "  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n" 
    "  Shared *self = new Shared(boost::static_pointer_cast<" << cppName << ">(*asVoid));\n" 
    "  *reinterpret_cast<Shared**>(mxGetData(out[0])) = self;\n" 
    "}\n"; 
} 
 
/* ************************************************************************* */ 
vector<ArgumentList> expandArgumentListsTemplate(const vector<ArgumentList>& argLists, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) { 
  vector<ArgumentList> result; 
  BOOST_FOREACH(const ArgumentList& argList, argLists) { 
    ArgumentList instArgList; 
    BOOST_FOREACH(const Argument& arg, argList) { 
      Argument instArg = arg; 
      if(arg.type == templateArg) { 
        instArg.namespaces.assign(instName.begin(), instName.end()-1); 
        instArg.type = instName.back(); 
      } else if(arg.type == "This") { 
        instArg.namespaces.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); 
        instArg.type = expandedClassName; 
      } 
      instArgList.push_back(instArg); 
    } 
    result.push_back(instArgList); 
  } 
  return result; 
} 
 
/* ************************************************************************* */ 
template<class METHOD> 
map<string, METHOD> expandMethodTemplate(const map<string, METHOD>& methods, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) { 
  map<string, METHOD> result; 
  typedef pair<const string, METHOD> Name_Method; 
  BOOST_FOREACH(const Name_Method& name_method, methods) { 
    const METHOD& method = name_method.second; 
    METHOD instMethod = method; 
    instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName, expandedClassNamespace, expandedClassName); 
    instMethod.returnVals.clear(); 
    BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) { 
      ReturnValue instRetVal = retVal; 
      if(retVal.type1 == templateArg) { 
        instRetVal.namespaces1.assign(instName.begin(), instName.end()-1); 
        instRetVal.type1 = instName.back(); 
      } else if(retVal.type1 == "This") { 
        instRetVal.namespaces1.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); 
        instRetVal.type1 = expandedClassName; 
      } 
      if(retVal.type2 == templateArg) { 
        instRetVal.namespaces2.assign(instName.begin(), instName.end()-1); 
        instRetVal.type2 = instName.back(); 
      } else if(retVal.type1 == "This") { 
        instRetVal.namespaces2.assign(expandedClassNamespace.begin(), expandedClassNamespace.end()); 
        instRetVal.type2 = expandedClassName; 
      } 
      instMethod.returnVals.push_back(instRetVal); 
    } 
    result.insert(make_pair(name_method.first, instMethod)); 
  } 
  return result; 
} 
 
/* ************************************************************************* */ 
Class expandClassTemplate(const Class& cls, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) { 
  Class inst; 
  inst.name = cls.name; 
  inst.templateArgs = cls.templateArgs; 
  inst.typedefName = cls.typedefName; 
  inst.isVirtual = cls.isVirtual; 
  inst.qualifiedParent = cls.qualifiedParent; 
  inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName); 
  inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName); 
  inst.namespaces = cls.namespaces; 
  inst.constructor = cls.constructor; 
  inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName, expandedClassNamespace, expandedClassName); 
  inst.constructor.name = inst.name; 
  inst.deconstructor = cls.deconstructor; 
  inst.deconstructor.name = inst.name; 
  inst.verbose_ = cls.verbose_; 
  return inst; 
} 
 
/* ************************************************************************* */ 
vector<Class> Class::expandTemplate(const string& templateArg, const vector<vector<string> >& instantiations) const { 
  vector<Class> result; 
  BOOST_FOREACH(const vector<string>& instName, instantiations) { 
    const string expandedName = name + instName.back(); 
    Class inst = expandClassTemplate(*this, templateArg, instName, this->namespaces, expandedName); 
    inst.name = expandedName; 
    inst.templateArgs.clear(); 
    inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">"; 
    result.push_back(inst); 
  } 
  return result; 
} 
 
/* ************************************************************************* */ 
Class Class::expandTemplate(const string& templateArg, const vector<string>& instantiation, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) const { 
  return expandClassTemplate(*this, templateArg, instantiation, expandedClassNamespace, expandedClassName); 
} 
 
/* ************************************************************************* */ 
std::string Class::getTypedef() const { 
  string result; 
  BOOST_FOREACH(const string& namesp, namespaces) { 
    result += ("namespace " + namesp + " { "); 
  } 
  result += ("typedef " + typedefName + " " + name + ";"); 
  for (size_t i = 0; i<namespaces.size(); ++i) { 
    result += " }"; 
  } 
  return result; 
} 
 
/* ************************************************************************* */ 

void Class::comment_fragment(FileWriter& proxyFile) const {
  proxyFile.oss << "%class " << name
      << ", see Doxygen page for details\n";
  proxyFile.oss
      << "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";

  if (!constructor.args_list.empty())
    proxyFile.oss << "%\n%-------Constructors-------\n";
  BOOST_FOREACH(ArgumentList argList, constructor.args_list) {
    string up_name = boost::to_upper_copy(name);
    proxyFile.oss << "%" << name << "(";
    unsigned int i = 0;
    BOOST_FOREACH(const Argument& arg, argList) {
      if (i != argList.size() - 1)
        proxyFile.oss << arg.type << " " << arg.name << ", ";
      else
        proxyFile.oss << arg.type << " " << arg.name;
      i++;
    }
    proxyFile.oss << ")\n";
  }

  if (!methods.empty())
    proxyFile.oss << "%\n%-------Methods-------\n";
  BOOST_FOREACH(const Methods::value_type& name_m, methods) {
    const Method& m = name_m.second;
    BOOST_FOREACH(ArgumentList argList, m.argLists) {
      string up_name = boost::to_upper_copy(m.name);
      proxyFile.oss << "%" << m.name << "(";
      unsigned int i = 0;
      BOOST_FOREACH(const Argument& arg, argList) {
        if (i != argList.size() - 1)
          proxyFile.oss << arg.type << " " << arg.name << ", ";
        else
          proxyFile.oss << arg.type << " " << arg.name;
        i++;
      }
      proxyFile.oss << ") : returns "
          << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
    }
  }

  if (!static_methods.empty())
    proxyFile.oss << "%\n%-------Static Methods-------\n";
  BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
    const StaticMethod& m = name_m.second;
    BOOST_FOREACH(ArgumentList argList, m.argLists) {
      string up_name = boost::to_upper_copy(m.name);
      proxyFile.oss << "%" << m.name << "(";
      unsigned int i = 0;
      BOOST_FOREACH(const Argument& arg, argList) {
        if (i != argList.size() - 1)
          proxyFile.oss << arg.type << " " << arg.name << ", ";
        else
          proxyFile.oss << arg.type << " " << arg.name;
        i++;
      }

      proxyFile.oss << ") : returns "
          << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
    }
  }

  proxyFile.oss << "%\n";
}
/* ************************************************************************* */