519 lines
22 KiB
Python
Executable File
519 lines
22 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Code generator for wrapping a C++ module with Pybind11
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Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
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"""
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# pylint: disable=too-many-arguments, too-many-instance-attributes, no-self-use, no-else-return, too-many-arguments, unused-format-string-argument, line-too-long
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import re
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import gtwrap.interface_parser as parser
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import gtwrap.template_instantiator as instantiator
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class PybindWrapper:
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"""
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Class to generate binding code for Pybind11 specifically.
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"""
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def __init__(self,
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module,
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module_name,
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top_module_namespaces='',
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use_boost=False,
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ignore_classes=(),
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module_template=""):
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self.module = module
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self.module_name = module_name
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self.top_module_namespaces = top_module_namespaces
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self.use_boost = use_boost
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self.ignore_classes = ignore_classes
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self._serializing_classes = list()
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self.module_template = module_template
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self.python_keywords = ['print', 'lambda']
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# amount of indentation to add before each function/method declaration.
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self.method_indent = '\n' + (' ' * 8)
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def _py_args_names(self, args_list):
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"""Set the argument names in Pybind11 format."""
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names = args_list.args_names()
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if names:
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py_args = []
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for arg in args_list.args_list:
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if isinstance(arg.default, str) and arg.default is not None:
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# string default arg
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arg.default = ' = "{arg.default}"'.format(arg=arg)
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elif arg.default: # Other types
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arg.default = ' = {arg.default}'.format(arg=arg)
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else:
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arg.default = ''
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argument = 'py::arg("{name}"){default}'.format(
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name=arg.name, default='{0}'.format(arg.default))
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py_args.append(argument)
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return ", " + ", ".join(py_args)
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else:
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return ''
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def _method_args_signature_with_names(self, args_list):
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"""Define the method signature types with the argument names."""
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cpp_types = args_list.to_cpp(self.use_boost)
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names = args_list.args_names()
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types_names = [
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"{} {}".format(ctype, name)
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for ctype, name in zip(cpp_types, names)
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]
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return ', '.join(types_names)
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def wrap_ctors(self, my_class):
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"""Wrap the constructors."""
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res = ""
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for ctor in my_class.ctors:
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res += (
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self.method_indent + '.def(py::init<{args_cpp_types}>()'
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'{py_args_names})'.format(
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args_cpp_types=", ".join(ctor.args.to_cpp(self.use_boost)),
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py_args_names=self._py_args_names(ctor.args),
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))
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return res
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def _wrap_method(self,
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method,
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cpp_class,
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prefix,
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suffix,
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method_suffix=""):
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py_method = method.name + method_suffix
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cpp_method = method.to_cpp()
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if cpp_method in ["serialize", "serializable"]:
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if not cpp_class in self._serializing_classes:
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self._serializing_classes.append(cpp_class)
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serialize_method = self.method_indent + \
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".def(\"serialize\", []({class_inst} self){{ return gtsam::serialize(*self); }})".format(class_inst=cpp_class + '*')
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deserialize_method = self.method_indent + \
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".def(\"deserialize\", []({class_inst} self, string serialized){{ gtsam::deserialize(serialized, *self); }}, py::arg(\"serialized\"))" \
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.format(class_inst=cpp_class + '*')
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return serialize_method + deserialize_method
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if cpp_method == "pickle":
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if not cpp_class in self._serializing_classes:
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raise ValueError(
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"Cannot pickle a class which is not serializable")
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pickle_method = self.method_indent + \
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".def(py::pickle({indent} [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent} [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }}))"
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return pickle_method.format(cpp_class=cpp_class,
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indent=self.method_indent)
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is_method = isinstance(method, instantiator.InstantiatedMethod)
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is_static = isinstance(method, parser.StaticMethod)
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return_void = method.return_type.is_void()
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args_names = method.args.args_names()
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py_args_names = self._py_args_names(method.args)
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args_signature_with_names = self._method_args_signature_with_names(
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method.args)
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caller = cpp_class + "::" if not is_method else "self->"
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function_call = ('{opt_return} {caller}{function_name}'
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'({args_names});'.format(
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opt_return='return' if not return_void else '',
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caller=caller,
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function_name=cpp_method,
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args_names=', '.join(args_names),
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))
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ret = ('{prefix}.{cdef}("{py_method}",'
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'[]({opt_self}{opt_comma}{args_signature_with_names}){{'
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'{function_call}'
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'}}'
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'{py_args_names}){suffix}'.format(
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prefix=prefix,
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cdef="def_static" if is_static else "def",
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py_method=py_method if not py_method in self.python_keywords
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else py_method + "_",
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opt_self="{cpp_class}* self".format(
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cpp_class=cpp_class) if is_method else "",
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opt_comma=', ' if is_method and args_names else '',
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args_signature_with_names=args_signature_with_names,
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function_call=function_call,
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py_args_names=py_args_names,
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suffix=suffix,
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))
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# Create __repr__ override
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# We allow all arguments to .print() and let the compiler handle type mismatches.
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if method.name == 'print':
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# Redirect stdout - see pybind docs for why this is a good idea:
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# https://pybind11.readthedocs.io/en/stable/advanced/pycpp/utilities.html#capturing-standard-output-from-ostream
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ret = ret.replace(
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'self->print',
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'py::scoped_ostream_redirect output; self->print')
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# Make __repr__() call print() internally
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class}& self{opt_comma}{args_signature_with_names}){{
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gtsam::RedirectCout redirect;
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self.{method_name}({method_args});
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return redirect.str();
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}}{py_args_names}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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opt_comma=', ' if args_names else '',
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args_signature_with_names=args_signature_with_names,
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method_name=method.name,
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method_args=", ".join(args_names) if args_names else '',
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py_args_names=py_args_names,
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suffix=suffix)
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return ret
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def wrap_methods(self,
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methods,
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cpp_class,
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prefix='\n' + ' ' * 8,
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suffix=''):
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"""
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Wrap all the methods in the `cpp_class`.
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This function is also used to wrap global functions.
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"""
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res = ""
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for method in methods:
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# To avoid type confusion for insert, currently unused
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if method.name == 'insert' and cpp_class == 'gtsam::Values':
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name_list = method.args.args_names()
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type_list = method.args.to_cpp(self.use_boost)
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# inserting non-wrapped value types
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if type_list[0].strip() == 'size_t':
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method_suffix = '_' + name_list[1].strip()
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res += self._wrap_method(method=method,
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cpp_class=cpp_class,
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prefix=prefix,
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suffix=suffix,
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method_suffix=method_suffix)
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res += self._wrap_method(
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method=method,
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cpp_class=cpp_class,
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prefix=prefix,
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suffix=suffix,
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)
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return res
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def wrap_variable(self,
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namespace,
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module_var,
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variable,
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prefix='\n' + ' ' * 8):
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"""Wrap a variable that's not part of a class (i.e. global)
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"""
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variable_value = ""
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if variable.default is None:
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variable_value = variable.name
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else:
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variable_value = variable.default
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return '{prefix}{module_var}.attr("{variable_name}") = {namespace}{variable_value};'.format(
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prefix=prefix,
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module_var=module_var,
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variable_name=variable.name,
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namespace=namespace,
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variable_value=variable_value)
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def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8):
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"""Wrap all the properties in the `cpp_class`."""
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res = ""
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for prop in properties:
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res += ('{prefix}.def_{property}("{property_name}", '
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'&{cpp_class}::{property_name})'.format(
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prefix=prefix,
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property="readonly"
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if prop.ctype.is_const else "readwrite",
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cpp_class=cpp_class,
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property_name=prop.name,
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))
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return res
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def wrap_operators(self, operators, cpp_class, prefix='\n' + ' ' * 8):
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"""Wrap all the overloaded operators in the `cpp_class`."""
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res = ""
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template = "{prefix}.def({{0}})".format(prefix=prefix)
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for op in operators:
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if op.operator == "[]": # __getitem__
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res += "{prefix}.def(\"__getitem__\", &{cpp_class}::operator[])".format(
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prefix=prefix, cpp_class=cpp_class)
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elif op.operator == "()": # __call__
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res += "{prefix}.def(\"__call__\", &{cpp_class}::operator())".format(
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prefix=prefix, cpp_class=cpp_class)
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elif op.is_unary:
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res += template.format("{0}py::self".format(op.operator))
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else:
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res += template.format("py::self {0} py::self".format(
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op.operator))
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return res
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def wrap_enum(self, enum, class_name='', module=None, prefix=' ' * 4):
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"""
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Wrap an enum.
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Args:
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enum: The parsed enum to wrap.
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class_name: The class under which the enum is defined.
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prefix: The amount of indentation.
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"""
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if module is None:
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module = self._gen_module_var(enum.namespaces())
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cpp_class = enum.cpp_typename().to_cpp()
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if class_name:
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# If class_name is provided, add that as the namespace
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cpp_class = class_name + "::" + cpp_class
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res = '{prefix}py::enum_<{cpp_class}>({module}, "{enum.name}", py::arithmetic())'.format(
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prefix=prefix, module=module, enum=enum, cpp_class=cpp_class)
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for enumerator in enum.enumerators:
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res += '\n{prefix} .value("{enumerator.name}", {cpp_class}::{enumerator.name})'.format(
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prefix=prefix, enumerator=enumerator, cpp_class=cpp_class)
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res += ";\n\n"
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return res
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def wrap_enums(self, enums, instantiated_class, prefix=' ' * 4):
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"""Wrap multiple enums defined in a class."""
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cpp_class = instantiated_class.cpp_class()
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module_var = instantiated_class.name.lower()
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res = ''
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for enum in enums:
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res += "\n" + self.wrap_enum(
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enum,
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class_name=cpp_class,
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module=module_var,
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prefix=prefix)
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return res
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def wrap_instantiated_class(
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self, instantiated_class: instantiator.InstantiatedClass):
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"""Wrap the class."""
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module_var = self._gen_module_var(instantiated_class.namespaces())
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cpp_class = instantiated_class.cpp_class()
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if cpp_class in self.ignore_classes:
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return ""
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if instantiated_class.parent_class:
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class_parent = "{instantiated_class.parent_class}, ".format(
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instantiated_class=instantiated_class)
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else:
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class_parent = ''
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if instantiated_class.enums:
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# If class has enums, define an instance and set module_var to the instance
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instance_name = instantiated_class.name.lower()
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class_declaration = (
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'\n py::class_<{cpp_class}, {class_parent}'
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'{shared_ptr_type}::shared_ptr<{cpp_class}>> '
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'{instance_name}({module_var}, "{class_name}");'
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'\n {instance_name}').format(
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shared_ptr_type=('boost' if self.use_boost else 'std'),
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cpp_class=cpp_class,
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class_name=instantiated_class.name,
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class_parent=class_parent,
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instance_name=instance_name,
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module_var=module_var)
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module_var = instance_name
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else:
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class_declaration = (
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'\n py::class_<{cpp_class}, {class_parent}'
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'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
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).format(shared_ptr_type=('boost' if self.use_boost else 'std'),
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cpp_class=cpp_class,
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class_name=instantiated_class.name,
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class_parent=class_parent,
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module_var=module_var)
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return ('{class_declaration}'
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'{wrapped_ctors}'
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'{wrapped_methods}'
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'{wrapped_static_methods}'
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'{wrapped_properties}'
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'{wrapped_operators};\n'.format(
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class_declaration=class_declaration,
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wrapped_ctors=self.wrap_ctors(instantiated_class),
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wrapped_methods=self.wrap_methods(
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instantiated_class.methods, cpp_class),
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wrapped_static_methods=self.wrap_methods(
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instantiated_class.static_methods, cpp_class),
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wrapped_properties=self.wrap_properties(
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instantiated_class.properties, cpp_class),
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wrapped_operators=self.wrap_operators(
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instantiated_class.operators, cpp_class)))
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def wrap_stl_class(self, stl_class):
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"""Wrap STL containers."""
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module_var = self._gen_module_var(stl_class.namespaces())
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cpp_class = stl_class.cpp_class()
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if cpp_class in self.ignore_classes:
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return ""
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return (
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'\n py::class_<{cpp_class}, {class_parent}'
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'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
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'{wrapped_ctors}'
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'{wrapped_methods}'
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'{wrapped_static_methods}'
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'{wrapped_properties};\n'.format(
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shared_ptr_type=('boost' if self.use_boost else 'std'),
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cpp_class=cpp_class,
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class_name=stl_class.name,
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class_parent=str(stl_class.parent_class) +
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(', ' if stl_class.parent_class else ''),
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module_var=module_var,
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wrapped_ctors=self.wrap_ctors(stl_class),
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wrapped_methods=self.wrap_methods(stl_class.methods,
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cpp_class),
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wrapped_static_methods=self.wrap_methods(
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stl_class.static_methods, cpp_class),
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wrapped_properties=self.wrap_properties(
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stl_class.properties, cpp_class),
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))
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def _partial_match(self, namespaces1, namespaces2):
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for i in range(min(len(namespaces1), len(namespaces2))):
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if namespaces1[i] != namespaces2[i]:
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return False
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return True
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def _gen_module_var(self, namespaces):
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"""Get the Pybind11 module name from the namespaces."""
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# We skip the first value in namespaces since it is empty
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sub_module_namespaces = namespaces[len(self.top_module_namespaces):]
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return "m_{}".format('_'.join(sub_module_namespaces))
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def _add_namespaces(self, name, namespaces):
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if namespaces:
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# Ignore the first empty global namespace.
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idx = 1 if not namespaces[0] else 0
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return '::'.join(namespaces[idx:] + [name])
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else:
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return name
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def wrap_namespace(self, namespace):
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"""Wrap the complete `namespace`."""
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wrapped = ""
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includes = ""
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namespaces = namespace.full_namespaces()
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if not self._partial_match(namespaces, self.top_module_namespaces):
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return "", ""
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if len(namespaces) < len(self.top_module_namespaces):
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for element in namespace.content:
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if isinstance(element, parser.Include):
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include = "{}\n".format(element)
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# replace the angle brackets with quotes
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include = include.replace('<', '"').replace('>', '"')
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includes += include
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if isinstance(element, parser.Namespace):
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(
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wrapped_namespace,
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includes_namespace,
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) = self.wrap_namespace( # noqa
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element)
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wrapped += wrapped_namespace
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includes += includes_namespace
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else:
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module_var = self._gen_module_var(namespaces)
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if len(namespaces) > len(self.top_module_namespaces):
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wrapped += (
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' ' * 4 + 'pybind11::module {module_var} = '
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'{parent_module_var}.def_submodule("{namespace}", "'
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'{namespace} submodule");\n'.format(
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module_var=module_var,
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namespace=namespace.name,
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parent_module_var=self._gen_module_var(
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namespaces[:-1]),
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))
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# Wrap an include statement, namespace, class or enum
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for element in namespace.content:
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if isinstance(element, parser.Include):
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include = "{}\n".format(element)
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# replace the angle brackets with quotes
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include = include.replace('<', '"').replace('>', '"')
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includes += include
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elif isinstance(element, parser.Namespace):
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wrapped_namespace, includes_namespace = self.wrap_namespace(
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element)
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wrapped += wrapped_namespace
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includes += includes_namespace
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elif isinstance(element, instantiator.InstantiatedClass):
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wrapped += self.wrap_instantiated_class(element)
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wrapped += self.wrap_enums(element.enums, element)
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elif isinstance(element, parser.Variable):
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variable_namespace = self._add_namespaces('', namespaces)
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wrapped += self.wrap_variable(namespace=variable_namespace,
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module_var=module_var,
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variable=element,
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prefix='\n' + ' ' * 4)
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elif isinstance(element, parser.Enum):
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wrapped += self.wrap_enum(element)
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# Global functions.
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all_funcs = [
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func for func in namespace.content
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if isinstance(func, (parser.GlobalFunction,
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|
instantiator.InstantiatedGlobalFunction))
|
|
]
|
|
wrapped += self.wrap_methods(
|
|
all_funcs,
|
|
self._add_namespaces('', namespaces)[:-2],
|
|
prefix='\n' + ' ' * 4 + module_var,
|
|
suffix=';',
|
|
)
|
|
return wrapped, includes
|
|
|
|
def wrap(self):
|
|
"""Wrap the code in the interface file."""
|
|
wrapped_namespace, includes = self.wrap_namespace(self.module)
|
|
|
|
# Export classes for serialization.
|
|
boost_class_export = ""
|
|
for cpp_class in self._serializing_classes:
|
|
new_name = cpp_class
|
|
# The boost's macro doesn't like commas, so we have to typedef.
|
|
if ',' in cpp_class:
|
|
new_name = re.sub("[,:<> ]", "", cpp_class)
|
|
boost_class_export += "typedef {cpp_class} {new_name};\n".format( # noqa
|
|
cpp_class=cpp_class,
|
|
new_name=new_name,
|
|
)
|
|
boost_class_export += "BOOST_CLASS_EXPORT({new_name})\n".format(
|
|
new_name=new_name, )
|
|
|
|
holder_type = "PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, " \
|
|
"{shared_ptr_type}::shared_ptr<TYPE_PLACEHOLDER_DONOTUSE>);"
|
|
include_boost = "#include <boost/shared_ptr.hpp>" if self.use_boost else ""
|
|
|
|
return self.module_template.format(
|
|
include_boost=include_boost,
|
|
module_name=self.module_name,
|
|
includes=includes,
|
|
holder_type=holder_type.format(
|
|
shared_ptr_type=('boost' if self.use_boost else 'std'))
|
|
if self.use_boost else "",
|
|
wrapped_namespace=wrapped_namespace,
|
|
boost_class_export=boost_class_export,
|
|
)
|