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