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/* ----------------------------------------------------------------------------
* 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 Module.ccp
* @author Frank Dellaert
* @author Alex Cunningham
* @author Andrew Melim
* @author Richard Roberts
**/
#include "Module.h"
#include "FileWriter.h"
#include "TypeAttributesTable.h"
#include "utilities.h"
#include <boost/filesystem.hpp>
#include <boost/lexical_cast.hpp>
#include <iostream>
#include <algorithm>
using namespace std;
using namespace wrap;
using namespace BOOST_SPIRIT_CLASSIC_NS;
namespace bl = boost::lambda;
namespace fs = boost::filesystem;
/* ************************************************************************* */
// We parse an interface file into a Module object.
// The grammar is defined using the boost/spirit combinatorial parser.
// For example, str_p("const") parses the string "const", and the >>
// operator creates a sequence parser. The grammar below, composed of rules
// and with start rule [class_p], doubles as the specs for our interface files.
/* ************************************************************************* */
/* ************************************************************************* */
// If a number of template arguments were given, generate a number of expanded
// class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
static void handle_possible_template(vector<Class>& classes,
vector<Class>& uninstantiatedClasses,
const Class& cls, const Template& t) {
uninstantiatedClasses.push_back(cls);
if (cls.templateArgs.empty() || t.empty()) {
classes.push_back(cls);
} else {
if (cls.templateArgs.size() != 1)
throw std::runtime_error(
"In-line template instantiations only handle a single template argument");
string arg = cls.templateArgs.front();
vector<Class> classInstantiations =
(t.nrValues() > 0) ? cls.expandTemplate(arg, t.argValues()) :
cls.expandTemplate(arg, t.intList());
for(const Class& c: classInstantiations)
classes.push_back(c);
}
}
static void push_typedef_pair(vector<TypedefPair>& typedefs,
const Qualified& oldType,
const Qualified& newType,
const string& includeFile) {
typedefs.push_back(TypedefPair(oldType, newType, includeFile));
}
/* ************************************************************************* */
Module::Module(const std::string& moduleName, bool enable_verbose)
: name(moduleName), verbose(enable_verbose)
{
}
/* ************************************************************************* */
Module::Module(const string& interfacePath,
const string& moduleName, bool enable_verbose)
: name(moduleName), verbose(enable_verbose)
{
// read interface file
string interfaceFile = interfacePath + "/" + moduleName + ".h";
string contents = file_contents(interfaceFile);
// execute parsing
parseMarkup(contents);
}
/* ************************************************************************* */
void Module::parseMarkup(const std::string& data) {
// The parse imperatively :-( updates variables gradually during parse
// The one with postfix 0 are used to reset the variables after parse.
//----------------------------------------------------------------------------
// Grammar with actions that build the Class object. Actions are
// defined within the square brackets [] and are executed whenever a
// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
// The grammar is allows a very restricted C++ header
// lexeme_d turns off white space skipping
// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
// ----------------------------------------------------------------------------
// Define Rule and instantiate basic rules
typedef rule<phrase_scanner_t> Rule;
BasicRules<phrase_scanner_t> basic;
vector<string> namespaces; // current namespace tag
string currentInclude;
// parse a full class
Class cls0(verbose),cls(verbose);
Template classTemplate;
ClassGrammar class_g(cls,classTemplate);
Rule class_p = class_g //
[assign_a(cls.namespaces_, namespaces)]
[assign_a(cls.includeFile, currentInclude)][bl::bind(
&handle_possible_template, bl::var(classes),
bl::var(uninstantiatedClasses), bl::var(cls),
bl::var(classTemplate))][clear_a(classTemplate)] //
[assign_a(cls, cls0)];
// parse "gtsam::Pose2" and add to singleInstantiation.typeList
TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
TypeListGrammar<'<','>'> typelist_g(singleInstantiation.typeList);
// typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
TypeGrammar instantiationClass_g(singleInstantiation.class_);
Rule templateSingleInstantiation_p =
(str_p("typedef") >> instantiationClass_g >>
typelist_g >>
basic.className_p[assign_a(singleInstantiation.name_)] >>
';')
[assign_a(singleInstantiation.namespaces_, namespaces)]
[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
[assign_a(singleInstantiation, singleInstantiation0)];
Qualified oldType, newType;
TypeGrammar typedefOldClass_g(oldType), typedefNewClass_g(newType);
Rule typedef_p =
(str_p("typedef") >> typedefOldClass_g >> typedefNewClass_g >>
';')
[assign_a(oldType.namespaces_, namespaces)]
[assign_a(newType.namespaces_, namespaces)]
[bl::bind(&push_typedef_pair, bl::var(typedefs), bl::var(oldType),
bl::var(newType), bl::var(currentInclude))];
// Create grammar for global functions
GlobalFunctionGrammar global_function_g(global_functions,namespaces);
Rule include_p = str_p("#include") >> ch_p('<') >>
(*(anychar_p - '>'))[push_back_a(includes)]
[assign_a(currentInclude)] >>
ch_p('>');
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wuninitialized"
#endif
Rule namespace_def_p =
(str_p("namespace")
>> basic.namespace_p[push_back_a(namespaces)]
>> ch_p('{')
>> *(include_p | class_p | templateSingleInstantiation_p | typedef_p | global_function_g | namespace_def_p | basic.comments_p)
>> ch_p('}'))
[pop_a(namespaces)];
#ifdef __clang__
#pragma clang diagnostic pop
#endif
// parse forward declaration
ForwardDeclaration fwDec0, fwDec;
Rule forward_declaration_p =
!(str_p("virtual")[assign_a(fwDec.isVirtual, true)])
>> str_p("class")
>> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)]
>> ch_p(';')
[push_back_a(forward_declarations, fwDec)]
[assign_a(cls,cls0)] // also clear class to avoid partial parse
[assign_a(fwDec, fwDec0)];
Rule module_content_p = basic.comments_p | include_p | class_p
| templateSingleInstantiation_p | forward_declaration_p
| global_function_g | namespace_def_p;
Rule module_p = *module_content_p >> !end_p;
// and parse contents
parse_info<const char*> info = parse(data.c_str(), module_p, space_p);
if(!info.full) {
printf("parsing stopped at \n%.20s\n",info.stop);
cout << "Stopped in:\n"
"class '" << cls.name_ << "'" << endl;
throw ParseFailed((int)info.length);
}
// Post-process classes for serialization markers
for(Class& cls: classes)
cls.erase_serialization();
for(Class& cls: uninstantiatedClasses)
cls.erase_serialization();
// Explicitly add methods to the classes from parents so it shows in documentation
for(Class& cls: classes)
cls.appendInheritedMethods(cls, classes);
// - Remove inherited methods for Cython classes in the pxd, otherwise Cython can't decide which one to call.
// - Only inherited nontemplateMethods_ in uninstantiatedClasses need to be removed
// because that what we serialized to the pxd.
// - However, we check against the class parent's *methods_* to avoid looking into
// its grand parent and grand-grand parent, etc., because all those are already
// added in its direct parent.
// - So this must be called *after* the above code appendInheritedMethods!!
for(Class& cls: uninstantiatedClasses)
cls.removeInheritedNontemplateMethods(uninstantiatedClasses);
// Expand templates - This is done first so that template instantiations are
// counted in the list of valid types, have their attributes and dependencies
// checked, etc.
expandedClasses = ExpandTypedefInstantiations(classes,
templateInstantiationTypedefs);
// Dependency check list
vector<string> validTypes = GenerateValidTypes(expandedClasses,
forward_declarations, typedefs);
// Check that all classes have been defined somewhere
verifyArguments<GlobalFunction>(validTypes, global_functions);
verifyReturnTypes<GlobalFunction>(validTypes, global_functions);
hasSerialiable = false;
for(const Class& cls: expandedClasses)
cls.verifyAll(validTypes,hasSerialiable);
// Create type attributes table and check validity
typeAttributes.addClasses(expandedClasses);
typeAttributes.addForwardDeclarations(forward_declarations);
// add Eigen types as template arguments are also checked ?
vector<ForwardDeclaration> eigen;
eigen.push_back(ForwardDeclaration("Vector"));
eigen.push_back(ForwardDeclaration("Matrix"));
typeAttributes.addForwardDeclarations(eigen);
typeAttributes.checkValidity(expandedClasses);
}
/* ************************************************************************* */
void Module::matlab_code(const string& toolboxPath) const {
fs::create_directories(toolboxPath);
// create the unified .cpp switch file
const string wrapperName = name + "_wrapper";
string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
FileWriter wrapperFile(wrapperFileName, verbose, "//");
wrapperFile.oss << "#include <wrap/matlab.h>\n";
wrapperFile.oss << "#include <map>\n";
wrapperFile.oss << "\n";
// Include boost.serialization archive headers before other class headers
if (hasSerialiable) {
wrapperFile.oss << "#include <boost/serialization/export.hpp>\n";
wrapperFile.oss << "#include <boost/archive/text_iarchive.hpp>\n";
wrapperFile.oss << "#include <boost/archive/text_oarchive.hpp>\n\n";
}
// Generate includes while avoiding redundant includes
generateIncludes(wrapperFile);
// create typedef classes - we put this at the top of the wrap file so that
// collectors and method arguments can use these typedefs
for(const Class& cls: expandedClasses)
if(!cls.typedefName.empty())
wrapperFile.oss << cls.getTypedef() << "\n";
wrapperFile.oss << "\n";
// Generate boost.serialization export flags (needs typedefs from above)
if (hasSerialiable) {
for(const Class& cls: expandedClasses)
if(cls.isSerializable)
wrapperFile.oss << cls.getSerializationExport() << "\n";
wrapperFile.oss << "\n";
}
// Generate collectors and cleanup function to be called from mexAtExit
WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses);
// generate RTTI registry (for returning derived-most types)
WriteRTTIRegistry(wrapperFile, name, expandedClasses);
vector<string> functionNames; // Function names stored by index for switch
// create proxy class and wrapper code
for(const Class& cls: expandedClasses)
cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
// create matlab files and wrapper code for global functions
for(const GlobalFunctions::value_type& p: global_functions)
p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
// finish wrapper file
wrapperFile.oss << "\n";
finish_wrapper(wrapperFile, functionNames);
wrapperFile.emit(true);
}
/* ************************************************************************* */
void Module::cython_wrapper(const string& toolboxPath) const {
fs::create_directories(toolboxPath);
string pxdFileName = toolboxPath + "/" + name + "_wrapper" + ".pxd";
FileWriter pxdFile(pxdFileName, verbose, "#");
emit_cython_pxd(pxdFile);
string pyxFileName = toolboxPath + "/" + name + ".pyx";
FileWriter pyxFile(pyxFileName, verbose, "#");
emit_cython_pyx(pyxFile);
}
/* ************************************************************************* */
void Module::emit_cython_pxd(FileWriter& pxdFile) const {
// headers
pxdFile.oss << "from eigency.core cimport *\n"
"from libcpp.string cimport string\n"
"from libcpp.vector cimport vector\n"
"from libcpp.pair cimport pair\n"
"from libcpp.set cimport set\n"
"from libcpp.map cimport map\n"
"from libcpp cimport bool\n\n";
// boost shared_ptr
pxdFile.oss << "cdef extern from \"boost/shared_ptr.hpp\" namespace \"boost\":\n"
"\tcppclass shared_ptr[T]:\n"
"\t\tshared_ptr()\n"
"\t\tshared_ptr(T*)\n"
"\t\tT* get()\n"
"\t\tT& operator*()\n\n"
"\tcdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n";
for(const TypedefPair& types: typedefs)
types.emit_cython_pxd(pxdFile);
//... wrap all classes
for (const Class& cls : uninstantiatedClasses) {
cls.emit_cython_pxd(pxdFile, uninstantiatedClasses);
pxdFile.oss << "\n";
//... ctypedef for template instantiations
for (const Class& expCls : expandedClasses) {
if (!expCls.templateClass || expCls.templateClass->name_ != cls.name_)
continue;
pxdFile.oss << "ctypedef " << expCls.templateClass->cythonClass()
<< "[";
for (size_t i = 0; i < expCls.templateInstTypeList.size(); ++i)
pxdFile.oss << expCls.templateInstTypeList[i].cythonClass()
<< ((i == expCls.templateInstTypeList.size() - 1)
? ""
: ", ");
pxdFile.oss << "] " << expCls.cythonClass() << "\n";
}
pxdFile.oss << "\n\n";
}
pxdFile.emit(true);
}
/* ************************************************************************* */
void Module::emit_cython_pyx(FileWriter& pyxFile) const {
// headers...
string pxdHeader = name + "_wrapper";
pyxFile.oss << "cimport numpy as np\n"
"cimport " << pxdHeader << " as " << name << "\n"
"from "<< pxdHeader << " cimport shared_ptr\n"
"from "<< pxdHeader << " cimport dynamic_pointer_cast\n";
// import all typedefs, e.g. from gtsam cimport Key, so we don't need to say gtsam.Key
for(const Qualified& q: Qualified::BasicTypedefs) {
pyxFile.oss << "from " << pxdHeader << " cimport " << q.cythonClass() << "\n";
}
pyxFile.oss << "from eigency.core cimport *\n"
"from libcpp cimport bool\n\n"
"from libcpp.pair cimport pair\n"
"from libcpp.string cimport string\n"
"from cython.operator cimport dereference as deref\n\n\n";
for(const Class& cls: expandedClasses)
cls.emit_cython_pyx(pyxFile, expandedClasses);
pyxFile.oss << "\n";
pyxFile.emit(true);
}
/* ************************************************************************* */
void Module::generateIncludes(FileWriter& file) const {
// collect includes
vector<string> all_includes(includes);
// sort and remove duplicates
sort(all_includes.begin(), all_includes.end());
vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
vector<string>::const_iterator it = all_includes.begin();
// add includes to file
for (; it != last_include; ++it)
file.oss << "#include <" << *it << ">" << endl;
file.oss << "\n";
}
/* ************************************************************************* */
void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
file.oss << "{\n";
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
file.oss << " _" << name << "_RTTIRegister();\n\n";
file.oss << " int id = unwrap<int>(in[0]);\n\n";
file.oss << " try {\n";
file.oss << " switch(id) {\n";
for(size_t id = 0; id < functionNames.size(); ++id) {
file.oss << " case " << id << ":\n";
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
file.oss << " break;\n";
}
file.oss << " }\n";
file.oss << " } catch(const std::exception& e) {\n";
file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n";
file.oss << " }\n";
file.oss << "\n";
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
file.oss << "}\n";
}
/* ************************************************************************* */
vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
vector<Class> expandedClasses = classes;
for(const TemplateInstantiationTypedef& inst: instantiations) {
// Add the new class to the list
expandedClasses.push_back(inst.findAndExpand(classes));
}
// Remove all template classes
for(size_t i = 0; i < expandedClasses.size(); ++i)
if(!expandedClasses[i].templateArgs.empty()) {
expandedClasses.erase(expandedClasses.begin() + size_t(i));
-- i;
}
return expandedClasses;
}
/* ************************************************************************* */
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration>& forwardDeclarations, const vector<TypedefPair>& typedefs) {
vector<string> validTypes;
for(const ForwardDeclaration& fwDec: forwardDeclarations) {
validTypes.push_back(fwDec.name);
}
validTypes.push_back("void");
validTypes.push_back("string");
validTypes.push_back("int");
validTypes.push_back("bool");
validTypes.push_back("char");
validTypes.push_back("unsigned char");
validTypes.push_back("size_t");
validTypes.push_back("double");
validTypes.push_back("Vector");
validTypes.push_back("Matrix");
//Create a list of parsed classes for dependency checking
for(const Class& cls: classes) {
validTypes.push_back(cls.qualifiedName("::"));
}
for(const TypedefPair& p: typedefs) {
validTypes.push_back(p.newType.qualifiedName("::"));
}
return validTypes;
}
/* ************************************************************************* */
void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
// Generate all collectors
for(const Class& cls: classes) {
const string matlabUniqueName = cls.qualifiedName(),
cppName = cls.qualifiedName("::");
wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
<< "Collector_" << matlabUniqueName << ";\n";
wrapperFile.oss << "static Collector_" << matlabUniqueName <<
" collector_" << matlabUniqueName << ";\n";
}
// generate mexAtExit cleanup function
wrapperFile.oss <<
"\nvoid _deleteAllObjects()\n"
"{\n"
" mstream mout;\n" // Send stdout to MATLAB console
" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
" bool anyDeleted = false;\n";
for(const Class& cls: classes) {
const string matlabUniqueName = cls.qualifiedName();
const string cppName = cls.qualifiedName("::");
const string collectorType = "Collector_" + matlabUniqueName;
const string collectorName = "collector_" + matlabUniqueName;
// The extra curly-braces around the for loops work around a limitation in MSVC (existing
// since 2005!) preventing more than 248 blocks.
wrapperFile.oss <<
" { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
" iter != " << collectorName << ".end(); ) {\n"
" delete *iter;\n"
" " << collectorName << ".erase(iter++);\n"
" anyDeleted = true;\n"
" } }\n";
}
wrapperFile.oss <<
" if(anyDeleted)\n"
" cout <<\n"
" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
" std::cout.rdbuf(outbuf);\n" // Restore cout
"}\n\n";
}
/* ************************************************************************* */
void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
wrapperFile.oss <<
"void _" << moduleName << "_RTTIRegister() {\n"
" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
" if(!alreadyCreated) {\n"
" std::map<std::string, std::string> types;\n";
for(const Class& cls: classes) {
if(cls.isVirtual)
wrapperFile.oss <<
" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
}
wrapperFile.oss << "\n";
wrapperFile.oss <<
" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
" if(!registry)\n"
" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
" typedef std::pair<std::string, std::string> StringPair;\n"
" for(const StringPair& rtti_matlab: types) {\n"
" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
" if(fieldId < 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
" }\n"
" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxDestroyArray(registry);\n"
" \n"
" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxDestroyArray(newAlreadyCreated);\n"
" }\n"
"}\n"
"\n";
}
/* ************************************************************************* */
void Module::python_wrapper(const string& toolboxPath) const {
fs::create_directories(toolboxPath);
// create the unified .cpp switch file
const string wrapperName = name + "_python";
string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
FileWriter wrapperFile(wrapperFileName, verbose, "//");
wrapperFile.oss << "#include <boost/python.hpp>\n\n";
wrapperFile.oss << "using namespace boost::python;\n";
wrapperFile.oss << "BOOST_PYTHON_MODULE(" + name + ")\n";
wrapperFile.oss << "{\n";
// write out classes
for(const Class& cls: expandedClasses) {
cls.python_wrapper(wrapperFile);
}
// write out global functions
for(const GlobalFunctions::value_type& p: global_functions)
p.second.python_wrapper(wrapperFile);
// finish wrapper file
wrapperFile.oss << "}\n";
wrapperFile.emit(true);
}
/* ************************************************************************* */
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