gtsam/wrap/Method.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 Method.ccp
 * @author Frank Dellaert
 * @author Richard Roberts
 **/

#include <iostream>
#include <fstream>

#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>

#include "Method.h"
#include "utilities.h"

using namespace std;
using namespace wrap;

/* ************************************************************************* */
void Method::addOverload(bool verbose, bool is_const, const std::string& name,
    const ArgumentList& args, const ReturnValue& retVal) {
  this->verbose_ = verbose;
  this->is_const_ = is_const;
  this->name = name;
  this->argLists.push_back(args);
  this->returnVals.push_back(retVal);
}

/* ************************************************************************* */
void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
                                     const string& cppClassName,
                                     const std::string& matlabQualName,
                                     const std::string& matlabUniqueName,
                                     const string& wrapperName,
                                     const TypeAttributesTable& typeAttributes,
                                     vector<string>& functionNames) const {

  proxyFile.oss << "    function varargout = " << name << "(this, varargin)\n";
  //Comments for documentation
  string up_name  = boost::to_upper_copy(name);
  proxyFile.oss << "      % " << up_name << " usage:";
  unsigned int argLCount = 0;
  BOOST_FOREACH(ArgumentList argList, argLists) 
    { 
        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++;
        }
        if(argLCount != argLists.size()-1)
            proxyFile.oss << "), ";
        else
            proxyFile.oss << ") : returns " << returnVals[0].return_type(false, returnVals[0].pair) << endl; 
        argLCount++;
    }

  proxyFile.oss << "      % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl;
  proxyFile.oss << "      % " << "" << endl;
  proxyFile.oss << "      % " << "Method Overloads" << endl;
    BOOST_FOREACH(ArgumentList argList, argLists) 
    { 
        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 << ")" << endl;
    }

  for(size_t overload = 0; overload < argLists.size(); ++overload) {
    const ArgumentList& args = argLists[overload];
    const ReturnValue& returnVal = returnVals[overload];
    size_t nrArgs = args.size();

    const int id = functionNames.size();

    // Output proxy matlab code

    // check for number of arguments...
    proxyFile.oss << "      " << (overload==0?"":"else") << "if length(varargin) == " << nrArgs;
    if (nrArgs>0) proxyFile.oss << " && ";
    // ...and their types
    bool first = true;
    for(size_t i=0;i<nrArgs;i++) {
      if (!first) proxyFile.oss << " && ";
      proxyFile.oss << "isa(varargin{" << i+1 << "},'" << args[i].matlabClass(".") << "')";
      first=false;
    }
    proxyFile.oss << "\n";

    // output call to C++ wrapper
    string output;
    if(returnVal.isPair)
      output = "[ varargout{1} varargout{2} ] = ";
    else if(returnVal.category1 == ReturnValue::VOID)
      output = "";
    else
      output = "varargout{1} = ";
    proxyFile.oss << "        " << output << wrapperName << "(" << id << ", this, varargin{:});\n";

    // Output C++ wrapper code
    
    const string wrapFunctionName = wrapper_fragment(
      wrapperFile, cppClassName, matlabUniqueName, overload, id, typeAttributes);

    // Add to function list
    functionNames.push_back(wrapFunctionName);

  }
  
  proxyFile.oss << "      else\n";
  proxyFile.oss << "        error('Arguments do not match any overload of function " <<
    matlabQualName << "." << name << "');" << endl;

  proxyFile.oss << "      end\n";
  proxyFile.oss << "    end\n";
}

/* ************************************************************************* */
string Method::wrapper_fragment(FileWriter& file, 
          const string& cppClassName,
          const string& matlabUniqueName,
          int overload,
          int id,
          const TypeAttributesTable& typeAttributes) const {

  // generate code

  const string wrapFunctionName = matlabUniqueName + "_" + name + "_" + boost::lexical_cast<string>(id);

  const ArgumentList& args = argLists[overload];
  const ReturnValue& returnVal = returnVals[overload];

  // call
  file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
  // start
  file.oss << "{\n";

  if(returnVal.isPair)
  {
      if(returnVal.category1 == ReturnValue::CLASS)
        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;
      if(returnVal.category2 == ReturnValue::CLASS)
        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType2("::")  << "> Shared" <<  returnVal.type2 << ";"<< endl;
  }
  else
      if(returnVal.category1 == ReturnValue::CLASS)
        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;

  file.oss << "  typedef boost::shared_ptr<"  << cppClassName  << "> Shared;" << endl;

  // check arguments
  // extra argument obj -> nargin-1 is passed !
  // example: checkArguments("equals",nargout,nargin-1,2);
  file.oss << "  checkArguments(\"" << name << "\",nargout,nargin-1," << args.size() << ");\n";

  // get class pointer
  // example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
  file.oss << "  Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
  // unwrap arguments, see Argument.cpp
  args.matlab_unwrap(file,1);

  // call method and wrap result
  // example: out[0]=wrap<bool>(self->return_field(t));
  if (returnVal.type1!="void")
    returnVal.wrap_result("obj->"+name+"("+args.names()+")", file, typeAttributes);
  else
    file.oss << "  obj->"+name+"("+args.names()+");\n";

  // finish
  file.oss << "}\n";

  return wrapFunctionName;
}

/* ************************************************************************* */