1930 lines
76 KiB
Python
Executable File
1930 lines
76 KiB
Python
Executable File
"""
|
|
Code to use the parsed results and convert it to a format
|
|
that Matlab's MEX compiler can use.
|
|
"""
|
|
|
|
# pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements, consider-using-f-string, unspecified-encoding
|
|
|
|
import copy
|
|
import os
|
|
import os.path as osp
|
|
import textwrap
|
|
from functools import partial, reduce
|
|
from typing import Dict, Iterable, List, Union
|
|
|
|
import gtwrap.interface_parser as parser
|
|
import gtwrap.template_instantiator as instantiator
|
|
from gtwrap.interface_parser.function import ArgumentList
|
|
from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin
|
|
from gtwrap.matlab_wrapper.templates import WrapperTemplate
|
|
from gtwrap.template_instantiator.classes import InstantiatedClass
|
|
|
|
|
|
class MatlabWrapper(CheckMixin, FormatMixin):
|
|
""" Wrap the given C++ code into Matlab.
|
|
|
|
Attributes
|
|
module: the C++ module being wrapped
|
|
module_name: name of the C++ module being wrapped
|
|
top_module_namespace: C++ namespace for the top module (default '')
|
|
ignore_classes: A list of classes to ignore (default [])
|
|
"""
|
|
|
|
def __init__(self,
|
|
module_name,
|
|
top_module_namespace='',
|
|
ignore_classes=(),
|
|
use_boost_serialization=False):
|
|
super().__init__()
|
|
|
|
self.module_name = module_name
|
|
self.top_module_namespace = top_module_namespace
|
|
self.ignore_classes = ignore_classes
|
|
self.verbose = False
|
|
self.use_boost_serialization = use_boost_serialization
|
|
|
|
# Map the data type to its Matlab class.
|
|
# Found in Argument.cpp in old wrapper
|
|
self.data_type = {
|
|
'string': 'char',
|
|
'char': 'char',
|
|
'unsigned char': 'unsigned char',
|
|
'Vector': 'double',
|
|
'Matrix': 'double',
|
|
'int': 'numeric',
|
|
'size_t': 'numeric',
|
|
'bool': 'logical'
|
|
}
|
|
# Map the data type into the type used in Matlab methods.
|
|
# Found in matlab.h in old wrapper
|
|
self.data_type_param = {
|
|
'string': 'char',
|
|
'char': 'char',
|
|
'unsigned char': 'unsigned char',
|
|
'size_t': 'int',
|
|
'int': 'int',
|
|
'double': 'double',
|
|
'Point2': 'double',
|
|
'Point3': 'double',
|
|
'Vector': 'double',
|
|
'Matrix': 'double',
|
|
'bool': 'bool'
|
|
}
|
|
# The amount of times the wrapper has created a call to geometry_wrapper
|
|
self.wrapper_id = 0
|
|
# Map each wrapper id to its collector function namespace, class, type, and string format
|
|
self.wrapper_map: Dict = {}
|
|
# Set of all the includes in the namespace
|
|
self.includes: List[parser.Include] = []
|
|
# Set of all classes in the namespace
|
|
self.classes: List[Union[parser.Class,
|
|
instantiator.InstantiatedClass]] = []
|
|
self.classes_elems: Dict[Union[parser.Class,
|
|
instantiator.InstantiatedClass],
|
|
int] = {}
|
|
# Id for ordering global functions in the wrapper
|
|
self.global_function_id = 0
|
|
# Files and their content
|
|
self.content: List[str] = []
|
|
|
|
# Ensure the template file is always picked up from the correct directory.
|
|
dir_path = osp.dirname(osp.realpath(__file__))
|
|
with open(osp.join(dir_path, "matlab_wrapper.tpl")) as f:
|
|
self.wrapper_file_headers = f.read()
|
|
|
|
def add_class(self, instantiated_class):
|
|
"""Add `instantiated_class` to the list of classes."""
|
|
if self.classes_elems.get(instantiated_class) is None:
|
|
self.classes_elems[instantiated_class] = 0
|
|
self.classes.append(instantiated_class)
|
|
|
|
def _update_wrapper_id(self,
|
|
collector_function=None,
|
|
id_diff=0,
|
|
function_name: str = None):
|
|
"""
|
|
Get and define wrapper ids.
|
|
Generates the map of id -> collector function.
|
|
|
|
Args:
|
|
collector_function: tuple storing info about the wrapper function
|
|
(namespace, class instance, function name, function object)
|
|
id_diff: constant to add to the id in the map
|
|
function_name: Optional custom function_name.
|
|
|
|
Returns:
|
|
the current wrapper id
|
|
"""
|
|
if collector_function is not None:
|
|
is_instantiated_class = isinstance(collector_function[1],
|
|
instantiator.InstantiatedClass)
|
|
|
|
if function_name is None:
|
|
if is_instantiated_class:
|
|
function_name = collector_function[0] + \
|
|
collector_function[1].name + '_' + collector_function[2]
|
|
else:
|
|
function_name = collector_function[1].name
|
|
|
|
self.wrapper_map[self.wrapper_id] = (
|
|
collector_function[0], collector_function[1],
|
|
collector_function[2], function_name + '_' +
|
|
str(self.wrapper_id + id_diff), collector_function[3])
|
|
|
|
self.wrapper_id += 1
|
|
|
|
return self.wrapper_id - 1
|
|
|
|
def _qualified_name(self, names):
|
|
return 'handle' if names == '' else names
|
|
|
|
def _insert_spaces(self, x, y):
|
|
"""Insert spaces at the beginning of each line
|
|
|
|
Args:
|
|
x: the statement currently generated
|
|
y: the addition to add to the statement
|
|
"""
|
|
return x + '\n' + ('' if y == '' else ' ') + y
|
|
|
|
@staticmethod
|
|
def _expand_default_arguments(method, save_backup=True):
|
|
"""Recursively expand all possibilities for optional default arguments.
|
|
We create "overload" functions with fewer arguments, but since we have to "remember" what
|
|
the default arguments are for later, we make a backup.
|
|
"""
|
|
|
|
def args_copy(args):
|
|
return ArgumentList([copy.copy(arg) for arg in args.list()])
|
|
|
|
def method_copy(method):
|
|
method2 = copy.copy(method)
|
|
method2.args = args_copy(method.args)
|
|
method2.args.backup = method.args.backup
|
|
return method2
|
|
|
|
if save_backup:
|
|
method.args.backup = args_copy(method.args)
|
|
method = method_copy(method)
|
|
for arg in reversed(method.args.list()):
|
|
if arg.default is not None:
|
|
arg.default = None
|
|
methodWithArg = method_copy(method)
|
|
method.args.list().remove(arg)
|
|
return [
|
|
methodWithArg,
|
|
*MatlabWrapper._expand_default_arguments(method,
|
|
save_backup=False)
|
|
]
|
|
break
|
|
assert all(arg.default is None for arg in method.args.list()), \
|
|
'In parsing method {:}: Arguments with default values cannot appear before ones ' \
|
|
'without default values.'.format(method.name)
|
|
return [method]
|
|
|
|
def _group_methods(self, methods):
|
|
"""Group overloaded methods together"""
|
|
method_map = {}
|
|
method_out = []
|
|
|
|
for method in methods:
|
|
method_index = method_map.get(method.name)
|
|
|
|
if method_index is None:
|
|
method_map[method.name] = len(method_out)
|
|
method_out.append(
|
|
MatlabWrapper._expand_default_arguments(method))
|
|
else:
|
|
method_out[
|
|
method_index] += MatlabWrapper._expand_default_arguments(
|
|
method)
|
|
|
|
return method_out
|
|
|
|
def _wrap_args(self, args):
|
|
"""Wrap an interface_parser.ArgumentList into a list of arguments.
|
|
|
|
Returns:
|
|
A string representation of the arguments. For example:
|
|
'int x, double y'
|
|
"""
|
|
arg_wrap = ''
|
|
|
|
for i, arg in enumerate(args.list(), 1):
|
|
c_type = self._format_type_name(arg.ctype.typename,
|
|
include_namespace=False)
|
|
|
|
arg_wrap += '{c_type} {arg_name}{comma}'.format(
|
|
c_type=c_type,
|
|
arg_name=arg.name,
|
|
comma='' if i == len(args.list()) else ', ')
|
|
|
|
return arg_wrap
|
|
|
|
def _wrap_variable_arguments(self, args, wrap_datatypes=True):
|
|
""" Wrap an interface_parser.ArgumentList into a statement of argument
|
|
checks.
|
|
|
|
Returns:
|
|
A string representation of a variable arguments for an if
|
|
statement. For example:
|
|
' && isa(varargin{1},'double') && isa(varargin{2},'numeric')'
|
|
"""
|
|
var_arg_wrap = ''
|
|
|
|
for i, arg in enumerate(args.list(), 1):
|
|
name = arg.ctype.typename.name
|
|
if name in self.not_check_type:
|
|
continue
|
|
|
|
check_type = self.data_type_param.get(name)
|
|
|
|
if self.data_type.get(check_type):
|
|
check_type = self.data_type[check_type]
|
|
|
|
if check_type is None:
|
|
check_type = self._format_type_name(
|
|
arg.ctype.typename,
|
|
separator='.',
|
|
is_constructor=not wrap_datatypes)
|
|
|
|
var_arg_wrap += " && isa(varargin{{{num}}},'{data_type}')".format(
|
|
num=i, data_type=check_type)
|
|
if name == 'Vector':
|
|
var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=i)
|
|
if name == 'Point2':
|
|
var_arg_wrap += ' && size(varargin{{{num}}},1)==2'.format(
|
|
num=i)
|
|
var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=i)
|
|
if name == 'Point3':
|
|
var_arg_wrap += ' && size(varargin{{{num}}},1)==3'.format(
|
|
num=i)
|
|
var_arg_wrap += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=i)
|
|
|
|
return var_arg_wrap
|
|
|
|
def _wrap_list_variable_arguments(self, args):
|
|
""" Wrap an interface_parser.ArgumentList into a list of argument
|
|
variables.
|
|
|
|
Returns:
|
|
A string representation of a list of variable arguments.
|
|
For example:
|
|
'varargin{1}, varargin{2}, varargin{3}'
|
|
"""
|
|
var_list_wrap = ''
|
|
first = True
|
|
|
|
for i in range(1, len(args.list()) + 1):
|
|
if first:
|
|
var_list_wrap += 'varargin{{{}}}'.format(i)
|
|
first = False
|
|
else:
|
|
var_list_wrap += ', varargin{{{}}}'.format(i)
|
|
|
|
return var_list_wrap
|
|
|
|
def _wrap_method_check_statement(self, args: parser.ArgumentList):
|
|
"""
|
|
Wrap the given arguments into either just a varargout call or a
|
|
call in an if statement that checks if the parameters are accurate.
|
|
|
|
TODO Update this method so that default arguments are supported.
|
|
"""
|
|
arg_id = 1
|
|
|
|
param_count = len(args)
|
|
check_statement = 'if length(varargin) == {param_count}'.format(
|
|
param_count=param_count)
|
|
|
|
for _, arg in enumerate(args.list()):
|
|
name = arg.ctype.typename.name
|
|
|
|
if name in self.not_check_type:
|
|
arg_id += 1
|
|
continue
|
|
|
|
check_type = self.data_type_param.get(name)
|
|
|
|
if self.data_type.get(check_type):
|
|
check_type = self.data_type[check_type]
|
|
|
|
if check_type is None:
|
|
check_type = self._format_type_name(arg.ctype.typename,
|
|
separator='.')
|
|
|
|
check_statement += " && isa(varargin{{{id}}},'{ctype}')".format(
|
|
id=arg_id, ctype=check_type)
|
|
|
|
if name == 'Vector':
|
|
check_statement += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=arg_id)
|
|
if name == 'Point2':
|
|
check_statement += ' && size(varargin{{{num}}},1)==2'.format(
|
|
num=arg_id)
|
|
check_statement += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=arg_id)
|
|
if name == 'Point3':
|
|
check_statement += ' && size(varargin{{{num}}},1)==3'.format(
|
|
num=arg_id)
|
|
check_statement += ' && size(varargin{{{num}}},2)==1'.format(
|
|
num=arg_id)
|
|
|
|
arg_id += 1
|
|
|
|
check_statement = check_statement \
|
|
if check_statement == '' \
|
|
else check_statement + '\n'
|
|
|
|
return check_statement
|
|
|
|
def _unwrap_argument(self, arg, arg_id=0, instantiated_class=None):
|
|
ctype_camel = self._format_type_name(arg.ctype.typename, separator='')
|
|
ctype_sep = self._format_type_name(arg.ctype.typename)
|
|
|
|
if instantiated_class and \
|
|
self.is_enum(arg.ctype, instantiated_class):
|
|
enum_type = f"{arg.ctype.typename}"
|
|
arg_type = f"{enum_type}"
|
|
unwrap = f'unwrap_enum<{enum_type}>(in[{arg_id}]);'
|
|
|
|
elif self.is_ref(arg.ctype): # and not constructor:
|
|
arg_type = "{ctype}&".format(ctype=ctype_sep)
|
|
unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(
|
|
ctype=ctype_sep, ctype_camel=ctype_camel, id=arg_id)
|
|
|
|
elif self.is_ptr(arg.ctype) and \
|
|
arg.ctype.typename.name not in self.ignore_namespace:
|
|
|
|
arg_type = "{ctype_sep}*".format(ctype_sep=ctype_sep)
|
|
unwrap = 'unwrap_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
|
|
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
|
|
|
|
elif (self.is_shared_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
|
|
arg.ctype.typename.name not in self.ignore_namespace:
|
|
|
|
arg_type = "std::shared_ptr<{ctype_sep}>".format(
|
|
ctype_sep=ctype_sep)
|
|
unwrap = 'unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
|
|
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
|
|
|
|
else:
|
|
arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
|
|
unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
|
|
ctype=arg.ctype.typename.name, id=arg_id)
|
|
|
|
return arg_type, unwrap
|
|
|
|
def _wrapper_unwrap_arguments(self,
|
|
args,
|
|
arg_id=0,
|
|
instantiated_class=None):
|
|
"""Format the interface_parser.Arguments.
|
|
|
|
Examples:
|
|
((a), unsigned char a = unwrap< unsigned char >(in[1]);),
|
|
((a), Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");),
|
|
((a), std::shared_ptr<Test> p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test");)
|
|
"""
|
|
body_args = ''
|
|
|
|
for arg in args.list():
|
|
arg_type, unwrap = self._unwrap_argument(
|
|
arg, arg_id, instantiated_class=instantiated_class)
|
|
|
|
body_args += textwrap.indent(textwrap.dedent('''\
|
|
{arg_type} {name} = {unwrap}
|
|
'''.format(arg_type=arg_type, name=arg.name,
|
|
unwrap=unwrap)),
|
|
prefix=' ')
|
|
arg_id += 1
|
|
|
|
params = ''
|
|
explicit_arg_names = [arg.name for arg in args.list()]
|
|
# when returning the params list, we need to re-include the default args.
|
|
for arg in args.backup.list():
|
|
if params != '':
|
|
params += ','
|
|
|
|
if (arg.default is not None) and (arg.name
|
|
not in explicit_arg_names):
|
|
params += arg.default
|
|
continue
|
|
|
|
if not self.is_ref(arg.ctype) and (self.is_shared_ptr(arg.ctype) or \
|
|
self.is_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
|
|
not self.is_enum(arg.ctype, instantiated_class) and \
|
|
arg.ctype.typename.name not in self.ignore_namespace:
|
|
if arg.ctype.is_shared_ptr:
|
|
call_type = arg.ctype.is_shared_ptr
|
|
else:
|
|
call_type = arg.ctype.is_ptr
|
|
if call_type == "":
|
|
params += "*"
|
|
params += arg.name
|
|
|
|
return params, body_args
|
|
|
|
@staticmethod
|
|
def _return_count(return_type):
|
|
"""The amount of objects returned by the given
|
|
interface_parser.ReturnType.
|
|
"""
|
|
return 1 if return_type.type2 == '' else 2
|
|
|
|
def _wrapper_name(self):
|
|
"""Determine the name of wrapper function."""
|
|
return self.module_name + '_wrapper'
|
|
|
|
def class_serialize_comment(self, class_name, static_methods):
|
|
"""Generate comments for serialize methods."""
|
|
comment_wrap = ''
|
|
static_methods = sorted(static_methods, key=lambda name: name.name)
|
|
|
|
for static_method in static_methods:
|
|
if comment_wrap == '':
|
|
comment_wrap = '%-------Static Methods-------\n'
|
|
|
|
comment_wrap += '%{name}({args}) : returns {return_type}\n'.format(
|
|
name=static_method.name,
|
|
args=self._wrap_args(static_method.args),
|
|
return_type=self._format_return_type(static_method.return_type,
|
|
include_namespace=True))
|
|
|
|
comment_wrap += textwrap.dedent('''\
|
|
%
|
|
%-------Serialization Interface-------
|
|
%string_serialize() : returns string
|
|
%string_deserialize(string serialized) : returns {class_name}
|
|
%
|
|
''').format(class_name=class_name)
|
|
|
|
return comment_wrap
|
|
|
|
def class_comment(self, instantiated_class):
|
|
"""Generate comments for the given class in Matlab.
|
|
|
|
Args
|
|
instantiated_class: the class being wrapped
|
|
ctors: a list of the constructors in the class
|
|
methods: a list of the methods in the class
|
|
"""
|
|
class_name = instantiated_class.name
|
|
ctors = instantiated_class.ctors
|
|
properties = instantiated_class.properties
|
|
methods = instantiated_class.methods
|
|
static_methods = instantiated_class.static_methods
|
|
|
|
comment = textwrap.dedent('''\
|
|
%class {class_name}, see Doxygen page for details
|
|
%at https://gtsam.org/doxygen/
|
|
''').format(class_name=class_name)
|
|
|
|
if len(ctors) != 0:
|
|
comment += '%\n%-------Constructors-------\n'
|
|
|
|
# Write constructors
|
|
for ctor in ctors:
|
|
comment += '%{ctor_name}({args})\n'.format(ctor_name=ctor.name,
|
|
args=self._wrap_args(
|
|
ctor.args))
|
|
|
|
if len(properties) != 0:
|
|
comment += '%\n' \
|
|
'%-------Properties-------\n'
|
|
for propty in properties:
|
|
comment += '%{}\n'.format(propty.name)
|
|
|
|
if len(methods) != 0:
|
|
comment += '%\n' \
|
|
'%-------Methods-------\n'
|
|
|
|
methods = sorted(methods, key=lambda name: name.name)
|
|
|
|
# Write methods
|
|
for method in methods:
|
|
if method.name in self.whitelist:
|
|
continue
|
|
if method.name in self.ignore_methods:
|
|
continue
|
|
|
|
comment += '%{name}({args})'.format(name=method.name,
|
|
args=self._wrap_args(
|
|
method.args))
|
|
|
|
if method.return_type.type2 == '':
|
|
return_type = self._format_type_name(
|
|
method.return_type.type1.typename)
|
|
else:
|
|
return_type = 'pair< {type1}, {type2} >'.format(
|
|
type1=self._format_type_name(
|
|
method.return_type.type1.typename),
|
|
type2=self._format_type_name(
|
|
method.return_type.type2.typename))
|
|
|
|
comment += ' : returns {return_type}\n'.format(
|
|
return_type=return_type)
|
|
|
|
comment += '%\n'
|
|
|
|
if len(static_methods) != 0:
|
|
comment += self.class_serialize_comment(class_name, static_methods)
|
|
|
|
return comment
|
|
|
|
def wrap_method(self, methods):
|
|
"""
|
|
Wrap methods in the body of a class.
|
|
"""
|
|
if not isinstance(methods, list):
|
|
methods = [methods]
|
|
|
|
return ''
|
|
|
|
def wrap_methods(self, methods, global_funcs=False, global_ns=None):
|
|
"""
|
|
Wrap a sequence of methods/functions. Groups methods with the same names
|
|
together.
|
|
If global_funcs is True then output every method into its own file.
|
|
"""
|
|
output = ''
|
|
methods = self._group_methods(methods)
|
|
|
|
for method in methods:
|
|
if method in self.ignore_methods:
|
|
continue
|
|
|
|
if global_funcs:
|
|
method_text = self.wrap_global_function(method)
|
|
self.content.append(("".join([
|
|
'+' + x + '/' for x in global_ns.full_namespaces()[1:]
|
|
])[:-1], [(method[0].name + '.m', method_text)]))
|
|
else:
|
|
method_text = self.wrap_method(method)
|
|
output += ''
|
|
|
|
return output
|
|
|
|
def wrap_global_function(self, function):
|
|
"""Wrap the given global function."""
|
|
if not isinstance(function, list):
|
|
function = [function]
|
|
|
|
function_name = function[0].name
|
|
|
|
# Get all combinations of parameters
|
|
param_wrap = ''
|
|
|
|
for i, overload in enumerate(function):
|
|
param_wrap += ' if' if i == 0 else ' elseif'
|
|
param_wrap += ' length(varargin) == '
|
|
|
|
if len(overload.args.list()) == 0:
|
|
param_wrap += '0\n'
|
|
else:
|
|
param_wrap += str(len(overload.args.list())) \
|
|
+ self._wrap_variable_arguments(overload.args, False) + '\n'
|
|
|
|
# Determine format of return and varargout statements
|
|
return_type_formatted = self._format_return_type(
|
|
overload.return_type, include_namespace=True, separator=".")
|
|
varargout = self._format_varargout(overload.return_type,
|
|
return_type_formatted)
|
|
|
|
param_wrap += textwrap.indent(textwrap.dedent('''\
|
|
{varargout}{module_name}_wrapper({num}, varargin{{:}});
|
|
''').format(varargout=varargout,
|
|
module_name=self.module_name,
|
|
num=self._update_wrapper_id(
|
|
collector_function=(function[0].parent.name,
|
|
function[i], 'global_function',
|
|
None))),
|
|
prefix=' ')
|
|
|
|
param_wrap += textwrap.indent(textwrap.dedent('''\
|
|
else
|
|
error('Arguments do not match any overload of function {func_name}');
|
|
end''').format(func_name=function_name),
|
|
prefix=' ')
|
|
|
|
global_function = textwrap.indent(textwrap.dedent('''\
|
|
function varargout = {m_method}(varargin)
|
|
{statements}
|
|
end
|
|
''').format(m_method=function_name, statements=param_wrap),
|
|
prefix='')
|
|
|
|
return global_function
|
|
|
|
def wrap_class_constructors(self, namespace_name, inst_class, parent_name,
|
|
ctors, is_virtual):
|
|
"""Wrap class constructor.
|
|
|
|
Args:
|
|
namespace_name: the name of the namespace ('' if it does not exist)
|
|
inst_class: instance of the class
|
|
parent_name: the name of the parent class if it exists
|
|
ctors: the interface_parser.Constructor in the class
|
|
is_virtual: whether the class is part of a virtual inheritance
|
|
chain
|
|
"""
|
|
has_parent = parent_name != ''
|
|
class_name = inst_class.name
|
|
if has_parent:
|
|
parent_name = self._format_type_name(parent_name, separator=".")
|
|
if not isinstance(ctors, Iterable):
|
|
ctors = [ctors]
|
|
|
|
ctors = sum((MatlabWrapper._expand_default_arguments(ctor)
|
|
for ctor in ctors), [])
|
|
|
|
methods_wrap = textwrap.indent(textwrap.dedent("""\
|
|
methods
|
|
function obj = {class_name}(varargin)
|
|
""").format(class_name=class_name),
|
|
prefix='')
|
|
|
|
if is_virtual:
|
|
methods_wrap += " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))"
|
|
else:
|
|
methods_wrap += ' if nargin == 2'
|
|
|
|
methods_wrap += " && isa(varargin{1}, 'uint64')"
|
|
methods_wrap += " && varargin{1} == uint64(5139824614673773682)\n"
|
|
|
|
if is_virtual:
|
|
methods_wrap += textwrap.indent(textwrap.dedent('''\
|
|
if nargin == 2
|
|
my_ptr = varargin{{2}};
|
|
else
|
|
my_ptr = {wrapper_name}({id}, varargin{{2}});
|
|
end
|
|
''').format(wrapper_name=self._wrapper_name(),
|
|
id=self._update_wrapper_id() + 1),
|
|
prefix=' ')
|
|
else:
|
|
methods_wrap += ' my_ptr = varargin{2};\n'
|
|
|
|
collector_base_id = self._update_wrapper_id(
|
|
(namespace_name, inst_class, 'collectorInsertAndMakeBase', None),
|
|
id_diff=-1 if is_virtual else 0)
|
|
|
|
methods_wrap += ' {ptr}{wrapper_name}({id}, my_ptr);\n' \
|
|
.format(
|
|
ptr='base_ptr = ' if has_parent else '',
|
|
wrapper_name=self._wrapper_name(),
|
|
id=collector_base_id - (1 if is_virtual else 0))
|
|
|
|
for ctor in ctors:
|
|
wrapper_return = '[ my_ptr, base_ptr ] = ' \
|
|
if has_parent \
|
|
else 'my_ptr = '
|
|
|
|
methods_wrap += textwrap.indent(textwrap.dedent('''\
|
|
elseif nargin == {len}{varargin}
|
|
{ptr}{wrapper}({num}{comma}{var_arg});
|
|
''').format(len=len(ctor.args.list()),
|
|
varargin=self._wrap_variable_arguments(
|
|
ctor.args, False),
|
|
ptr=wrapper_return,
|
|
wrapper=self._wrapper_name(),
|
|
num=self._update_wrapper_id(
|
|
(namespace_name, inst_class, 'constructor', ctor)),
|
|
comma='' if len(ctor.args.list()) == 0 else ', ',
|
|
var_arg=self._wrap_list_variable_arguments(ctor.args)),
|
|
prefix=' ')
|
|
|
|
base_obj = ''
|
|
|
|
if has_parent:
|
|
base_obj = ' obj = obj@{parent_name}(uint64(5139824614673773682), base_ptr);'.format(
|
|
parent_name=parent_name)
|
|
|
|
if base_obj:
|
|
base_obj = '\n' + base_obj
|
|
|
|
methods_wrap += textwrap.indent(textwrap.dedent('''\
|
|
else
|
|
error('Arguments do not match any overload of {class_name_doc} constructor');
|
|
end{base_obj}
|
|
obj.ptr_{class_name} = my_ptr;
|
|
end\n
|
|
''').format(namespace=namespace_name,
|
|
d='' if namespace_name == '' else '.',
|
|
class_name_doc=self._format_class_name(inst_class,
|
|
separator="."),
|
|
class_name=self._format_class_name(inst_class,
|
|
separator=""),
|
|
base_obj=base_obj),
|
|
prefix=' ')
|
|
|
|
return methods_wrap
|
|
|
|
def wrap_properties_block(self, class_name, inst_class):
|
|
"""Generate Matlab properties block of the class.
|
|
|
|
E.g.
|
|
```
|
|
properties
|
|
ptr_gtsamISAM2Params = 0
|
|
relinearizeSkip
|
|
end
|
|
```
|
|
|
|
Args:
|
|
class_name: Class name with namespace to assign unique pointer.
|
|
inst_class: The instantiated class whose properties we want to wrap.
|
|
|
|
Returns:
|
|
str: The `properties` block in a Matlab `classdef`.
|
|
"""
|
|
# Get the property names and make into newline separated block
|
|
class_pointer = " ptr_{class_name} = 0".format(class_name=class_name)
|
|
|
|
if len(inst_class.properties) > 0:
|
|
properties = '\n' + "\n".join(
|
|
[" {}".format(p.name) for p in inst_class.properties])
|
|
else:
|
|
properties = ''
|
|
|
|
properties = class_pointer + properties
|
|
properties_block = textwrap.dedent('''\
|
|
properties
|
|
{properties}
|
|
end
|
|
''').format(properties=properties)
|
|
return properties_block
|
|
|
|
def wrap_class_properties(self, namespace_name: str,
|
|
inst_class: InstantiatedClass):
|
|
"""Generate wrappers for the setters & getters of class properties.
|
|
|
|
Args:
|
|
inst_class: The instantiated class whose properties we wish to wrap.
|
|
"""
|
|
properties = []
|
|
for propty in inst_class.properties:
|
|
# These are the setters and getters in the .m file
|
|
function_name = namespace_name + inst_class.name + '_get_' + propty.name
|
|
getter = """
|
|
function varargout = get.{name}(this)
|
|
{varargout} = {wrapper}({num}, this);
|
|
this.{name} = {varargout};
|
|
end
|
|
""".format(name=propty.name,
|
|
varargout='varargout{1}',
|
|
wrapper=self._wrapper_name(),
|
|
num=self._update_wrapper_id(
|
|
(namespace_name, inst_class, propty.name, propty),
|
|
function_name=function_name))
|
|
properties.append(getter)
|
|
|
|
# Setter doesn't need varargin since it needs just one input.
|
|
function_name = namespace_name + inst_class.name + '_set_' + propty.name
|
|
setter = """
|
|
function set.{name}(this, value)
|
|
obj.{name} = value;
|
|
{wrapper}({num}, this, value);
|
|
end
|
|
""".format(name=propty.name,
|
|
wrapper=self._wrapper_name(),
|
|
num=self._update_wrapper_id(
|
|
(namespace_name, inst_class, propty.name, propty),
|
|
function_name=function_name))
|
|
properties.append(setter)
|
|
|
|
return properties
|
|
|
|
def wrap_class_deconstructor(self, namespace_name, inst_class):
|
|
"""Generate the delete function for the Matlab class."""
|
|
class_name = inst_class.name
|
|
|
|
methods_text = textwrap.indent(textwrap.dedent("""\
|
|
function delete(obj)
|
|
{wrapper}({num}, obj.ptr_{class_name});
|
|
end\n
|
|
""").format(num=self._update_wrapper_id(
|
|
(namespace_name, inst_class, 'deconstructor', None)),
|
|
wrapper=self._wrapper_name(),
|
|
class_name="".join(inst_class.parent.full_namespaces()) +
|
|
class_name),
|
|
prefix=' ')
|
|
|
|
return methods_text
|
|
|
|
def wrap_class_display(self):
|
|
"""Generate the display function for the Matlab class."""
|
|
return textwrap.indent(textwrap.dedent("""\
|
|
function display(obj), obj.print(''); end
|
|
%DISPLAY Calls print on the object
|
|
function disp(obj), obj.display; end
|
|
%DISP Calls print on the object
|
|
"""),
|
|
prefix=' ')
|
|
|
|
def _group_class_methods(self, methods):
|
|
"""Group overloaded methods together"""
|
|
return self._group_methods(methods)
|
|
|
|
@classmethod
|
|
def _format_varargout(cls, return_type, return_type_formatted):
|
|
"""Determine format of return and varargout statements"""
|
|
if cls._return_count(return_type) == 1:
|
|
varargout = '' \
|
|
if return_type_formatted == 'void' \
|
|
else 'varargout{1} = '
|
|
else:
|
|
varargout = '[ varargout{1} varargout{2} ] = '
|
|
|
|
return varargout
|
|
|
|
def wrap_class_methods(self,
|
|
namespace_name,
|
|
inst_class,
|
|
methods,
|
|
serialize=(False, )):
|
|
"""Wrap the methods in the class.
|
|
|
|
Args:
|
|
namespace_name: the name of the class's namespace
|
|
inst_class: the instantiated class whose methods to wrap
|
|
methods: the methods to wrap in the order to wrap them
|
|
serialize: mutable param storing if one of the methods is serialize
|
|
"""
|
|
method_text = ''
|
|
|
|
methods = self._group_class_methods(methods)
|
|
|
|
# Convert to list so that it is mutable
|
|
if isinstance(serialize, tuple):
|
|
serialize = list(serialize)
|
|
|
|
for method in methods:
|
|
method_name = method[0].name
|
|
if method_name in self.whitelist and method_name != 'serialize':
|
|
continue
|
|
if method_name in self.ignore_methods:
|
|
continue
|
|
|
|
if method_name == 'serialize':
|
|
if self.use_boost_serialization:
|
|
serialize[0] = True
|
|
method_text += self.wrap_class_serialize_method(
|
|
namespace_name, inst_class)
|
|
|
|
else:
|
|
# Generate method code
|
|
method_text += textwrap.indent(textwrap.dedent("""\
|
|
function varargout = {method_name}(this, varargin)
|
|
""").format(caps_name=method_name.upper(),
|
|
method_name=method_name),
|
|
prefix='')
|
|
|
|
for overload in method:
|
|
method_text += textwrap.indent(textwrap.dedent("""\
|
|
% {caps_name} usage: {method_name}(""").format(
|
|
caps_name=method_name.upper(),
|
|
method_name=method_name),
|
|
prefix=' ')
|
|
|
|
# Determine format of return and varargout statements
|
|
return_type_formatted = self._format_return_type(
|
|
overload.return_type,
|
|
include_namespace=True,
|
|
separator=".")
|
|
varargout = self._format_varargout(overload.return_type,
|
|
return_type_formatted)
|
|
|
|
check_statement = self._wrap_method_check_statement(
|
|
overload.args)
|
|
class_name = namespace_name + ('' if namespace_name == ''
|
|
else '.') + inst_class.name
|
|
|
|
end_statement = '' \
|
|
if check_statement == '' \
|
|
else textwrap.indent(textwrap.dedent("""\
|
|
return
|
|
end
|
|
""").format(
|
|
class_name=class_name,
|
|
method_name=overload.original.name), prefix=' ')
|
|
|
|
method_text += textwrap.dedent("""\
|
|
{method_args}) : returns {return_type}
|
|
% Doxygen can be found at https://gtsam.org/doxygen/
|
|
{check_statement}{spacing}{varargout}{wrapper}({num}, this, varargin{{:}});
|
|
{end_statement}""").format(
|
|
method_args=self._wrap_args(overload.args),
|
|
return_type=return_type_formatted,
|
|
num=self._update_wrapper_id(
|
|
(namespace_name, inst_class,
|
|
overload.original.name, overload)),
|
|
check_statement=check_statement,
|
|
spacing='' if check_statement == '' else ' ',
|
|
varargout=varargout,
|
|
wrapper=self._wrapper_name(),
|
|
end_statement=end_statement)
|
|
|
|
final_statement = textwrap.indent(textwrap.dedent("""\
|
|
error('Arguments do not match any overload of function {class_name}.{method_name}');
|
|
""".format(class_name=class_name, method_name=method_name)),
|
|
prefix=' ')
|
|
method_text += final_statement + 'end\n\n'
|
|
|
|
return method_text
|
|
|
|
def wrap_static_methods(self, namespace_name, instantiated_class,
|
|
serialize):
|
|
"""
|
|
Wrap the static methods in the class.
|
|
"""
|
|
class_name = instantiated_class.name
|
|
|
|
method_text = 'methods(Static = true)\n'
|
|
static_methods = sorted(instantiated_class.static_methods,
|
|
key=lambda name: name.name)
|
|
|
|
static_methods = self._group_class_methods(static_methods)
|
|
|
|
for static_method in static_methods:
|
|
format_name = list(static_method[0].name)
|
|
format_name[0] = format_name[0]
|
|
|
|
if static_method[0].name in self.ignore_methods:
|
|
continue
|
|
|
|
method_text += textwrap.indent(textwrap.dedent('''\
|
|
function varargout = {name}(varargin)
|
|
'''.format(name=''.join(format_name))),
|
|
prefix=" ")
|
|
|
|
for static_overload in static_method:
|
|
check_statement = self._wrap_method_check_statement(
|
|
static_overload.args)
|
|
|
|
end_statement = '' \
|
|
if check_statement == '' \
|
|
else textwrap.indent(textwrap.dedent("""
|
|
return
|
|
end
|
|
"""), prefix='')
|
|
method_text += textwrap.indent(textwrap.dedent('''\
|
|
% {name_caps} usage: {name_upper_case}({args}) : returns {return_type}
|
|
% Doxygen can be found at https://gtsam.org/doxygen/
|
|
{check_statement}{spacing}varargout{{1}} = {wrapper}({id}, varargin{{:}});{end_statement}
|
|
''').format(
|
|
name=''.join(format_name),
|
|
name_caps=static_overload.name.upper(),
|
|
name_upper_case=static_overload.name,
|
|
args=self._wrap_args(static_overload.args),
|
|
return_type=self._format_return_type(
|
|
static_overload.return_type,
|
|
include_namespace=True,
|
|
separator="."),
|
|
length=len(static_overload.args.list()),
|
|
var_args_list=self._wrap_variable_arguments(
|
|
static_overload.args),
|
|
check_statement=check_statement,
|
|
spacing='' if check_statement == '' else ' ',
|
|
wrapper=self._wrapper_name(),
|
|
id=self._update_wrapper_id(
|
|
(namespace_name, instantiated_class,
|
|
static_overload.name, static_overload)),
|
|
class_name=instantiated_class.name,
|
|
end_statement=end_statement),
|
|
prefix=' ')
|
|
|
|
# If the arguments don't match any of the checks above,
|
|
# throw an error with the class and method name.
|
|
method_text += textwrap.indent(textwrap.dedent("""\
|
|
error('Arguments do not match any overload of function {class_name}.{method_name}');
|
|
""".format(class_name=class_name,
|
|
method_name=static_overload.name)),
|
|
prefix=' ')
|
|
|
|
method_text += textwrap.indent(textwrap.dedent("""\
|
|
end\n
|
|
"""),
|
|
prefix=" ")
|
|
|
|
if serialize and self.use_boost_serialization:
|
|
method_text += WrapperTemplate.matlab_deserialize.format(
|
|
class_name=namespace_name + '.' + instantiated_class.name,
|
|
wrapper=self._wrapper_name(),
|
|
id=self._update_wrapper_id(
|
|
(namespace_name, instantiated_class, 'string_deserialize',
|
|
'deserialize')))
|
|
|
|
return method_text
|
|
|
|
def wrap_instantiated_class(self,
|
|
instantiated_class,
|
|
namespace_name: str = ''):
|
|
"""Generate comments and code for given class.
|
|
|
|
Args:
|
|
instantiated_class: template_instantiator.InstantiatedClass
|
|
instance storing the class to wrap
|
|
namespace_name: the name of the namespace if there is one
|
|
"""
|
|
file_name = self._clean_class_name(instantiated_class)
|
|
namespace_file_name = namespace_name + file_name
|
|
|
|
uninstantiated_name = "::".join(instantiated_class.namespaces()
|
|
[1:]) + "::" + instantiated_class.name
|
|
if uninstantiated_name in self.ignore_classes:
|
|
return None
|
|
|
|
# Class docstring/comment
|
|
content_text = self.class_comment(instantiated_class)
|
|
content_text += self.wrap_methods(instantiated_class.methods)
|
|
|
|
# Class definition
|
|
# if namespace_name:
|
|
# print("nsname: {}, file_name_: {}, filename: {}"
|
|
# .format(namespace_name,
|
|
# self._clean_class_name(instantiated_class), file_name)
|
|
# , file=sys.stderr)
|
|
content_text += 'classdef {class_name} < {parent}\n'.format(
|
|
class_name=file_name,
|
|
parent=str(self._qualified_name(
|
|
instantiated_class.parent_class)).replace("::", "."))
|
|
|
|
# Class properties
|
|
content_text += ' ' + reduce(
|
|
self._insert_spaces,
|
|
self.wrap_properties_block(namespace_file_name,
|
|
instantiated_class).splitlines()) + '\n'
|
|
|
|
# Class constructor
|
|
content_text += ' ' + reduce(
|
|
self._insert_spaces,
|
|
self.wrap_class_constructors(
|
|
namespace_name,
|
|
instantiated_class,
|
|
instantiated_class.parent_class,
|
|
instantiated_class.ctors,
|
|
instantiated_class.is_virtual,
|
|
).splitlines()) + '\n'
|
|
|
|
# Delete function
|
|
content_text += ' ' + reduce(
|
|
self._insert_spaces,
|
|
self.wrap_class_deconstructor(
|
|
namespace_name, instantiated_class).splitlines()) + '\n'
|
|
|
|
# Display function
|
|
content_text += ' ' + reduce(
|
|
self._insert_spaces,
|
|
self.wrap_class_display().splitlines()) + '\n'
|
|
|
|
# Class methods
|
|
serialize = [False]
|
|
|
|
if len(instantiated_class.methods) != 0:
|
|
methods = sorted(instantiated_class.methods,
|
|
key=lambda name: name.name)
|
|
class_methods_wrapped = self.wrap_class_methods(
|
|
namespace_name,
|
|
instantiated_class,
|
|
methods,
|
|
serialize=serialize).splitlines()
|
|
if len(class_methods_wrapped) > 0:
|
|
content_text += ' ' + reduce(
|
|
lambda x, y: x + '\n' + ('' if y == '' else ' ') + y,
|
|
class_methods_wrapped) + '\n'
|
|
|
|
# Class properties
|
|
if len(instantiated_class.properties) != 0:
|
|
property_accessors = self.wrap_class_properties(
|
|
namespace_name, instantiated_class)
|
|
content_text += textwrap.indent(textwrap.dedent(
|
|
"".join(property_accessors)),
|
|
prefix=' ')
|
|
|
|
content_text += ' end' # End the `methods` block
|
|
|
|
# Static class methods
|
|
content_text += '\n\n ' + reduce(
|
|
self._insert_spaces,
|
|
self.wrap_static_methods(namespace_name, instantiated_class,
|
|
serialize[0]).splitlines()) + '\n' + \
|
|
' end\n'
|
|
|
|
# Close the classdef
|
|
content_text += textwrap.dedent('''\
|
|
end
|
|
''')
|
|
|
|
# Enums
|
|
# Place enums into the correct submodule so we can access them
|
|
# e.g. gtsam.Class.Enum.A
|
|
for enum in instantiated_class.enums:
|
|
enum_text = self.wrap_enum(enum)
|
|
if namespace_name != '':
|
|
submodule = f"+{namespace_name}/"
|
|
else:
|
|
submodule = ""
|
|
submodule += f"+{instantiated_class.name}"
|
|
self.content.append((submodule, [enum_text]))
|
|
|
|
return file_name + '.m', content_text
|
|
|
|
def wrap_enum(self, enum):
|
|
"""
|
|
Wrap an enum definition as a Matlab class.
|
|
|
|
Args:
|
|
enum: The interface_parser.Enum instance
|
|
"""
|
|
file_name = enum.name + '.m'
|
|
enum_template = textwrap.dedent("""\
|
|
classdef {0} < uint32
|
|
enumeration
|
|
{1}
|
|
end
|
|
end
|
|
""")
|
|
enumerators = "\n ".join([
|
|
f"{enumerator.name}({idx})"
|
|
for idx, enumerator in enumerate(enum.enumerators)
|
|
])
|
|
|
|
content = enum_template.format(enum.name, enumerators)
|
|
return file_name, content
|
|
|
|
def wrap_namespace(self, namespace, add_mex_file=True):
|
|
"""Wrap a namespace by wrapping all of its components.
|
|
|
|
Args:
|
|
namespace: the interface_parser.namespace instance of the namespace
|
|
add_cpp_file: Flag indicating whether the mex file should be added
|
|
"""
|
|
namespaces = namespace.full_namespaces()
|
|
inner_namespace = namespace.name != ''
|
|
wrapped = []
|
|
|
|
top_level_scope = []
|
|
inner_namespace_scope = []
|
|
|
|
for element in namespace.content:
|
|
if isinstance(element, parser.Include):
|
|
self.includes.append(element)
|
|
|
|
elif isinstance(element, parser.Namespace):
|
|
self.wrap_namespace(element, False)
|
|
|
|
elif isinstance(element, parser.Enum):
|
|
file, content = self.wrap_enum(element)
|
|
if inner_namespace:
|
|
module = "".join([
|
|
'+' + x + '/' for x in namespace.full_namespaces()[1:]
|
|
])[:-1]
|
|
inner_namespace_scope.append((module, [(file, content)]))
|
|
else:
|
|
top_level_scope.append((file, content))
|
|
|
|
elif isinstance(element, instantiator.InstantiatedClass):
|
|
self.add_class(element)
|
|
|
|
if inner_namespace:
|
|
class_text = self.wrap_instantiated_class(
|
|
element, "".join(namespace.full_namespaces()))
|
|
|
|
if not class_text is None:
|
|
inner_namespace_scope.append(("".join([
|
|
'+' + x + '/'
|
|
for x in namespace.full_namespaces()[1:]
|
|
])[:-1], [(class_text[0], class_text[1])]))
|
|
else:
|
|
class_text = self.wrap_instantiated_class(element)
|
|
top_level_scope.append((class_text[0], class_text[1]))
|
|
|
|
self.content.extend(top_level_scope)
|
|
|
|
if inner_namespace:
|
|
self.content.append(inner_namespace_scope)
|
|
|
|
if add_mex_file:
|
|
cpp_filename = self._wrapper_name() + '.cpp'
|
|
self.content.append((cpp_filename, self.wrapper_file_headers))
|
|
|
|
# Global functions
|
|
all_funcs = [
|
|
func for func in namespace.content
|
|
if isinstance(func, parser.GlobalFunction)
|
|
]
|
|
|
|
self.wrap_methods(all_funcs, True, global_ns=namespace)
|
|
|
|
return wrapped
|
|
|
|
def wrap_collector_function_shared_return(self,
|
|
return_type_name,
|
|
shared_obj,
|
|
func_id,
|
|
new_line=True):
|
|
"""Wrap the collector function which returns a shared pointer."""
|
|
new_line = '\n' if new_line else ''
|
|
|
|
return WrapperTemplate.collector_function_shared_return.format(
|
|
name=self._format_type_name(return_type_name,
|
|
include_namespace=False),
|
|
shared_obj=shared_obj,
|
|
id=func_id,
|
|
new_line=new_line)
|
|
|
|
def wrap_collector_function_return_types(self, return_type, func_id):
|
|
"""
|
|
Wrap the return type of the collector function when a std::pair is returned.
|
|
"""
|
|
return_type_text = ' out[' + str(func_id) + '] = '
|
|
pair_value = 'first' if func_id == 0 else 'second'
|
|
new_line = '\n' if func_id == 0 else ''
|
|
|
|
if self.is_shared_ptr(return_type) or self.is_ptr(return_type) or \
|
|
self.can_be_pointer(return_type):
|
|
shared_obj = 'pairResult.' + pair_value
|
|
|
|
if not (return_type.is_shared_ptr or return_type.is_ptr):
|
|
shared_obj = 'std::make_shared<{name}>({shared_obj})' \
|
|
.format(name=self._format_type_name(return_type.typename),
|
|
shared_obj='pairResult.' + pair_value)
|
|
|
|
if return_type.typename.name in self.ignore_namespace:
|
|
return_type_text = self.wrap_collector_function_shared_return(
|
|
return_type.typename, shared_obj, func_id, func_id == 0)
|
|
else:
|
|
return_type_text += 'wrap_shared_ptr({0},"{1}", false);{new_line}' \
|
|
.format(shared_obj,
|
|
self._format_type_name(return_type.typename,
|
|
separator='.'),
|
|
new_line=new_line)
|
|
else:
|
|
return_type_text += 'wrap< {0} >(pairResult.{1});{2}'.format(
|
|
self._format_type_name(return_type.typename, separator='.'),
|
|
pair_value, new_line)
|
|
|
|
return return_type_text
|
|
|
|
def _collector_return(self,
|
|
obj: str,
|
|
ctype: parser.Type,
|
|
instantiated_class: InstantiatedClass = None):
|
|
"""Helper method to get the final statement before the return in the collector function."""
|
|
expanded = ''
|
|
|
|
if instantiated_class and \
|
|
self.is_enum(ctype, instantiated_class):
|
|
if self.is_class_enum(ctype, instantiated_class):
|
|
class_name = ".".join(instantiated_class.namespaces()[1:] +
|
|
[instantiated_class.name])
|
|
else:
|
|
# Get the full namespace
|
|
class_name = ".".join(instantiated_class.parent.full_namespaces()[1:])
|
|
|
|
if class_name != "":
|
|
class_name += '.'
|
|
|
|
enum_type = f"{class_name}{ctype.typename.name}"
|
|
expanded = textwrap.indent(
|
|
f'out[0] = wrap_enum({obj},\"{enum_type}\");', prefix=' ')
|
|
|
|
elif self.is_shared_ptr(ctype) or self.is_ptr(ctype) or \
|
|
self.can_be_pointer(ctype):
|
|
sep_method_name = partial(self._format_type_name,
|
|
ctype.typename,
|
|
include_namespace=True)
|
|
|
|
if ctype.typename.name in self.ignore_namespace:
|
|
expanded += self.wrap_collector_function_shared_return(
|
|
ctype.typename, obj, 0, new_line=False)
|
|
|
|
if ctype.is_shared_ptr or ctype.is_ptr:
|
|
shared_obj = '{obj},"{method_name_sep}"'.format(
|
|
obj=obj, method_name_sep=sep_method_name('.'))
|
|
else:
|
|
method_name_sep_dot = sep_method_name('.')
|
|
|
|
# Specialize for std::optional so we access the underlying member
|
|
#TODO(Varun) How do we handle std::optional as a Mex type?
|
|
if isinstance(ctype, parser.TemplatedType) and \
|
|
"std::optional" == str(ctype.typename)[:13]:
|
|
obj = f"*{obj}"
|
|
type_name = ctype.template_params[0].typename
|
|
method_name_sep_dot = ".".join(
|
|
type_name.namespaces) + f".{type_name.name}"
|
|
|
|
|
|
shared_obj_template = 'std::make_shared<{method_name_sep_col}>({obj}),' \
|
|
'"{method_name_sep_dot}"'
|
|
shared_obj = shared_obj_template \
|
|
.format(method_name_sep_col=sep_method_name(),
|
|
method_name_sep_dot=method_name_sep_dot,
|
|
obj=obj)
|
|
|
|
if ctype.typename.name not in self.ignore_namespace:
|
|
expanded += textwrap.indent(
|
|
'out[0] = wrap_shared_ptr({0}, false);'.format(shared_obj),
|
|
prefix=' ')
|
|
else:
|
|
expanded += ' out[0] = wrap< {0} >({1});'.format(
|
|
ctype.typename.name, obj)
|
|
|
|
return expanded
|
|
|
|
def wrap_collector_function_return(self, method, instantiated_class=None):
|
|
"""
|
|
Wrap the complete return type of the function.
|
|
"""
|
|
expanded = ''
|
|
|
|
params = self._wrapper_unwrap_arguments(
|
|
method.args, arg_id=1, instantiated_class=instantiated_class)[0]
|
|
|
|
return_1 = method.return_type.type1
|
|
return_count = self._return_count(method.return_type)
|
|
return_1_name = method.return_type.type1.typename.name
|
|
obj_start = ''
|
|
|
|
if isinstance(method, instantiator.InstantiatedMethod):
|
|
method_name = method.to_cpp()
|
|
obj_start = 'obj->'
|
|
|
|
if method.instantiations:
|
|
# method_name += '<{}>'.format(
|
|
# self._format_type_name(method.instantiations))
|
|
method = method.to_cpp()
|
|
|
|
elif isinstance(method, instantiator.InstantiatedStaticMethod):
|
|
method_name = self._format_static_method(method, '::')
|
|
method_name += method.original.name
|
|
|
|
elif isinstance(method, parser.GlobalFunction):
|
|
method_name = self._format_global_function(method, '::')
|
|
method_name += method.name
|
|
|
|
else:
|
|
if isinstance(method.parent, instantiator.InstantiatedClass):
|
|
method_name = method.parent.to_cpp() + "::"
|
|
else:
|
|
method_name = self._format_static_method(method, '::')
|
|
method_name += method.name
|
|
|
|
obj = ' ' if return_1_name == 'void' else ''
|
|
obj += '{}{}({})'.format(obj_start, method_name, params)
|
|
|
|
if return_1_name != 'void':
|
|
if return_count == 1:
|
|
expanded += self._collector_return(
|
|
obj, return_1, instantiated_class=instantiated_class)
|
|
|
|
elif return_count == 2:
|
|
return_2 = method.return_type.type2
|
|
|
|
expanded += ' auto pairResult = {};\n'.format(obj)
|
|
expanded += self.wrap_collector_function_return_types(
|
|
return_1, 0)
|
|
expanded += self.wrap_collector_function_return_types(
|
|
return_2, 1)
|
|
else:
|
|
expanded += obj + ';'
|
|
|
|
return expanded
|
|
|
|
def wrap_collector_property_return(
|
|
self,
|
|
class_property: parser.Variable,
|
|
instantiated_class: InstantiatedClass = None):
|
|
"""Get the last collector function statement before return for a property."""
|
|
property_name = class_property.name
|
|
obj = 'obj->{}'.format(property_name)
|
|
|
|
return self._collector_return(obj,
|
|
class_property.ctype,
|
|
instantiated_class=instantiated_class)
|
|
|
|
def wrap_collector_function_upcast_from_void(self, class_name, func_id,
|
|
cpp_name):
|
|
"""
|
|
Add function to upcast type from void type.
|
|
"""
|
|
return WrapperTemplate.collector_function_upcast_from_void.format(
|
|
class_name=class_name, cpp_name=cpp_name, id=func_id)
|
|
|
|
def generate_collector_function(self, func_id):
|
|
"""
|
|
Generate the complete collector function that goes into the wrapper.cpp file.
|
|
|
|
A collector function is the Mex function used to interact between
|
|
the C++ object and the Matlab .m files.
|
|
"""
|
|
collector_func = self.wrapper_map.get(func_id)
|
|
|
|
if collector_func is None:
|
|
return ''
|
|
|
|
method_name = collector_func[3]
|
|
|
|
collector_function = "void {}" \
|
|
"(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n".format(method_name)
|
|
|
|
if isinstance(collector_func[1], instantiator.InstantiatedClass):
|
|
body = '{\n'
|
|
|
|
extra = collector_func[4]
|
|
|
|
class_name = collector_func[0] + collector_func[1].name
|
|
class_name_separated = collector_func[1].to_cpp()
|
|
is_method = isinstance(extra, parser.Method)
|
|
is_static_method = isinstance(extra, parser.StaticMethod)
|
|
is_property = isinstance(extra, parser.Variable)
|
|
|
|
if collector_func[2] == 'collectorInsertAndMakeBase':
|
|
body += textwrap.indent(textwrap.dedent('''\
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<{class_name_sep}> Shared;\n
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_{class_name}.insert(self);
|
|
''').format(class_name_sep=class_name_separated,
|
|
class_name=class_name),
|
|
prefix=' ')
|
|
|
|
if collector_func[1].parent_class:
|
|
body += textwrap.indent(textwrap.dedent('''
|
|
typedef std::shared_ptr<{}> SharedBase;
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
|
|
''').format(collector_func[1].parent_class),
|
|
prefix=' ')
|
|
|
|
elif collector_func[2] == 'constructor':
|
|
base = ''
|
|
params, body_args = self._wrapper_unwrap_arguments(
|
|
extra.args, instantiated_class=collector_func[1])
|
|
|
|
if collector_func[1].parent_class:
|
|
base += textwrap.indent(textwrap.dedent('''
|
|
typedef std::shared_ptr<{}> SharedBase;
|
|
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
|
|
''').format(collector_func[1].parent_class),
|
|
prefix=' ')
|
|
|
|
body += textwrap.dedent('''\
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<{class_name_sep}> Shared;\n
|
|
{body_args} Shared *self = new Shared(new {class_name_sep}({params}));
|
|
collector_{class_name}.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
{base}''').format(class_name_sep=class_name_separated,
|
|
body_args=body_args,
|
|
params=params,
|
|
class_name=class_name,
|
|
base=base)
|
|
|
|
elif collector_func[2] == 'deconstructor':
|
|
body += textwrap.indent(textwrap.dedent('''\
|
|
typedef std::shared_ptr<{class_name_sep}> Shared;
|
|
checkArguments("delete_{class_name}",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_{class_name}::iterator item;
|
|
item = collector_{class_name}.find(self);
|
|
if(item != collector_{class_name}.end()) {{
|
|
collector_{class_name}.erase(item);
|
|
}}
|
|
delete self;
|
|
''').format(class_name_sep=class_name_separated,
|
|
class_name=class_name),
|
|
prefix=' ')
|
|
|
|
elif extra == 'serialize':
|
|
if self.use_boost_serialization:
|
|
body += self.wrap_collector_function_serialize(
|
|
collector_func[1].name,
|
|
full_name=collector_func[1].to_cpp(),
|
|
namespace=collector_func[0])
|
|
|
|
elif extra == 'deserialize':
|
|
if self.use_boost_serialization:
|
|
body += self.wrap_collector_function_deserialize(
|
|
collector_func[1].name,
|
|
full_name=collector_func[1].to_cpp(),
|
|
namespace=collector_func[0])
|
|
|
|
elif is_method or is_static_method:
|
|
method_name = ''
|
|
|
|
if is_static_method:
|
|
method_name = self._format_static_method(extra, '.')
|
|
|
|
method_name += extra.name
|
|
|
|
_, body_args = self._wrapper_unwrap_arguments(
|
|
extra.args,
|
|
arg_id=1 if is_method else 0,
|
|
instantiated_class=collector_func[1])
|
|
|
|
return_body = self.wrap_collector_function_return(
|
|
extra, collector_func[1])
|
|
|
|
shared_obj = ''
|
|
|
|
if is_method:
|
|
shared_obj = ' auto obj = unwrap_shared_ptr<{class_name_sep}>' \
|
|
'(in[0], "ptr_{class_name}");\n'.format(
|
|
class_name_sep=class_name_separated,
|
|
class_name=class_name)
|
|
|
|
body += ' checkArguments("{method_name}",nargout,nargin{min1},' \
|
|
'{num_args});\n' \
|
|
'{shared_obj}' \
|
|
'{body_args}' \
|
|
'{return_body}\n'.format(
|
|
min1='-1' if is_method else '',
|
|
shared_obj=shared_obj,
|
|
method_name=method_name,
|
|
num_args=len(extra.args.list()),
|
|
body_args=body_args,
|
|
return_body=return_body)
|
|
|
|
elif is_property:
|
|
shared_obj = ' auto obj = unwrap_shared_ptr<{class_name_sep}>' \
|
|
'(in[0], "ptr_{class_name}");\n'.format(
|
|
class_name_sep=class_name_separated,
|
|
class_name=class_name)
|
|
|
|
# Unpack the property from mxArray
|
|
property_type, unwrap = self._unwrap_argument(
|
|
extra, arg_id=1, instantiated_class=collector_func[1])
|
|
unpack_property = textwrap.indent(textwrap.dedent('''\
|
|
{arg_type} {name} = {unwrap}
|
|
'''.format(arg_type=property_type,
|
|
name=extra.name,
|
|
unwrap=unwrap)),
|
|
prefix=' ')
|
|
|
|
# Getter
|
|
if "_get_" in method_name:
|
|
return_body = self.wrap_collector_property_return(
|
|
extra, instantiated_class=collector_func[1])
|
|
|
|
getter = ' checkArguments("{property_name}",nargout,nargin{min1},' \
|
|
'{num_args});\n' \
|
|
'{shared_obj}' \
|
|
'{return_body}\n'.format(
|
|
property_name=extra.name,
|
|
min1='-1',
|
|
num_args=0,
|
|
shared_obj=shared_obj,
|
|
return_body=return_body)
|
|
|
|
body += getter
|
|
|
|
# Setter
|
|
if "_set_" in method_name:
|
|
is_ptr_type = self.can_be_pointer(extra.ctype) and \
|
|
not self.is_enum(extra.ctype, collector_func[1])
|
|
return_body = ' obj->{0} = {1}{0};'.format(
|
|
extra.name, '*' if is_ptr_type else '')
|
|
|
|
setter = ' checkArguments("{property_name}",nargout,nargin{min1},' \
|
|
'{num_args});\n' \
|
|
'{shared_obj}' \
|
|
'{unpack_property}' \
|
|
'{return_body}\n'.format(
|
|
property_name=extra.name,
|
|
min1='-1',
|
|
num_args=1,
|
|
shared_obj=shared_obj,
|
|
unpack_property=unpack_property,
|
|
return_body=return_body)
|
|
|
|
body += setter
|
|
|
|
body += '}\n'
|
|
|
|
if extra not in ['serialize', 'deserialize']:
|
|
body += '\n'
|
|
|
|
collector_function += body
|
|
|
|
else:
|
|
body = textwrap.dedent('''\
|
|
{{
|
|
checkArguments("{function_name}",nargout,nargin,{len});
|
|
''').format(function_name=collector_func[1].name,
|
|
id=self.global_function_id,
|
|
len=len(collector_func[1].args.list()))
|
|
|
|
body += self._wrapper_unwrap_arguments(collector_func[1].args)[1]
|
|
body += self.wrap_collector_function_return(
|
|
collector_func[1]) + '\n}\n'
|
|
|
|
collector_function += body
|
|
|
|
self.global_function_id += 1
|
|
|
|
return collector_function
|
|
|
|
def mex_function(self):
|
|
"""
|
|
Generate the wrapped MEX function.
|
|
"""
|
|
cases = ''
|
|
next_case = None
|
|
|
|
for wrapper_id in range(self.wrapper_id):
|
|
id_val = self.wrapper_map.get(wrapper_id)
|
|
set_next_case = False
|
|
|
|
if id_val is None:
|
|
id_val = self.wrapper_map.get(wrapper_id + 1)
|
|
|
|
if id_val is None:
|
|
continue
|
|
|
|
set_next_case = True
|
|
|
|
cases += textwrap.indent(textwrap.dedent('''\
|
|
case {}:
|
|
{}(nargout, out, nargin-1, in+1);
|
|
break;
|
|
''').format(wrapper_id, next_case if next_case else id_val[3]),
|
|
prefix=' ')
|
|
|
|
if set_next_case:
|
|
next_case = '{}_upcastFromVoid_{}'.format(
|
|
id_val[1].name, wrapper_id + 1)
|
|
else:
|
|
next_case = None
|
|
|
|
mex_function = WrapperTemplate.mex_function.format(
|
|
module_name=self.module_name, cases=cases)
|
|
|
|
return mex_function
|
|
|
|
def get_class_name(self, cls):
|
|
"""Get the name of the class `cls` taking template instantiations into account."""
|
|
if cls.instantiations:
|
|
class_name_sep = cls.name
|
|
else:
|
|
class_name_sep = cls.to_cpp()
|
|
|
|
class_name = self._format_class_name(cls)
|
|
|
|
return class_name, class_name_sep
|
|
|
|
def generate_preamble(self):
|
|
"""
|
|
Generate the preamble of the wrapper file, which includes
|
|
the Boost exports, typedefs for collectors, and
|
|
the _deleteAllObjects and _RTTIRegister functions.
|
|
"""
|
|
delete_objs = ''
|
|
typedef_instances = []
|
|
boost_class_export_guid = ''
|
|
typedef_collectors = ''
|
|
rtti_classes = ''
|
|
|
|
for cls in self.classes:
|
|
# Check if class is in ignore list.
|
|
# If so, then skip
|
|
uninstantiated_name = "::".join(cls.namespaces()[1:] + [cls.name])
|
|
if uninstantiated_name in self.ignore_classes:
|
|
continue
|
|
|
|
class_name, class_name_sep = self.get_class_name(cls)
|
|
|
|
# If a class has instantiations, then declare the typedef for each instance
|
|
if cls.instantiations:
|
|
cls_insts = ''
|
|
for i, inst in enumerate(cls.instantiations):
|
|
if i != 0:
|
|
cls_insts += ', '
|
|
|
|
cls_insts += self._format_type_name(inst)
|
|
|
|
typedef_instances.append('typedef {original_class_name} {class_name_sep};' \
|
|
.format(original_class_name=cls.to_cpp(),
|
|
class_name_sep=cls.name))
|
|
|
|
# Get the Boost exports for serialization
|
|
if self.use_boost_serialization and \
|
|
cls.original.namespaces() and self._has_serialization(cls):
|
|
boost_class_export_guid += 'BOOST_CLASS_EXPORT_GUID({}, "{}");\n'.format(
|
|
class_name_sep, class_name)
|
|
|
|
# Typedef and declare the collector objects.
|
|
typedef_collectors += WrapperTemplate.typdef_collectors.format(
|
|
class_name_sep=class_name_sep, class_name=class_name)
|
|
|
|
# Generate the _deleteAllObjects method
|
|
delete_objs += WrapperTemplate.delete_obj.format(
|
|
class_name=class_name)
|
|
|
|
if cls.is_virtual:
|
|
class_name, class_name_sep = self.get_class_name(cls)
|
|
rtti_classes += ' types.insert(std::make_pair(typeid({}).name(), "{}"));\n' \
|
|
.format(class_name_sep, class_name)
|
|
|
|
# Generate the typedef instances string
|
|
typedef_instances = "\n".join(typedef_instances)
|
|
|
|
# Generate the full deleteAllObjects function
|
|
delete_all_objs = WrapperTemplate.delete_all_objects.format(
|
|
delete_objs=delete_objs)
|
|
|
|
# Generate the full RTTIRegister function
|
|
rtti_register = WrapperTemplate.rtti_register.format(
|
|
module_name=self.module_name, rtti_classes=rtti_classes)
|
|
|
|
return typedef_instances, boost_class_export_guid, \
|
|
typedef_collectors, delete_all_objs, rtti_register
|
|
|
|
def generate_wrapper(self, namespace):
|
|
"""Generate the c++ wrapper."""
|
|
assert namespace, "Namespace if empty"
|
|
|
|
# Generate the header includes
|
|
includes_list = sorted(self.includes,
|
|
key=lambda include: include.header)
|
|
|
|
# If boost serialization is enabled, include serialization headers
|
|
if self.use_boost_serialization:
|
|
boost_headers = WrapperTemplate.boost_headers
|
|
else:
|
|
boost_headers = ""
|
|
|
|
includes = textwrap.dedent("""\
|
|
{wrapper_file_headers}
|
|
{boost_headers}
|
|
{includes_list}
|
|
""").format(wrapper_file_headers=self.wrapper_file_headers.strip(),
|
|
boost_headers=boost_headers,
|
|
includes_list='\n'.join(map(str, includes_list)))
|
|
|
|
preamble = self.generate_preamble()
|
|
typedef_instances, boost_class_export_guid, \
|
|
typedef_collectors, delete_all_objs, \
|
|
rtti_register = preamble
|
|
|
|
ptr_ctor_frag = ''
|
|
set_next_case = False
|
|
|
|
for idx in range(self.wrapper_id):
|
|
id_val = self.wrapper_map.get(idx)
|
|
queue_set_next_case = set_next_case
|
|
|
|
set_next_case = False
|
|
|
|
if id_val is None:
|
|
id_val = self.wrapper_map.get(idx + 1)
|
|
|
|
if id_val is None:
|
|
continue
|
|
|
|
set_next_case = True
|
|
|
|
ptr_ctor_frag += self.generate_collector_function(idx)
|
|
|
|
if queue_set_next_case:
|
|
ptr_ctor_frag += self.wrap_collector_function_upcast_from_void(
|
|
id_val[1].name, idx, id_val[1].to_cpp())
|
|
|
|
wrapper_file = textwrap.dedent('''\
|
|
{includes}
|
|
{typedef_instances}
|
|
{boost_class_export_guid}
|
|
{typedefs_collectors}
|
|
{delete_all_objs}
|
|
{rtti_register}
|
|
{pointer_constructor_fragment}{mex_function}''') \
|
|
.format(includes=includes,
|
|
typedef_instances=typedef_instances,
|
|
boost_class_export_guid=boost_class_export_guid,
|
|
typedefs_collectors=typedef_collectors,
|
|
delete_all_objs=delete_all_objs,
|
|
rtti_register=rtti_register,
|
|
pointer_constructor_fragment=ptr_ctor_frag,
|
|
mex_function=self.mex_function())
|
|
|
|
self.content.append((self._wrapper_name() + '.cpp', wrapper_file))
|
|
|
|
def wrap_class_serialize_method(self, namespace_name, inst_class):
|
|
"""
|
|
Wrap the serizalize method of the class.
|
|
"""
|
|
class_name = inst_class.name
|
|
wrapper_id = self._update_wrapper_id(
|
|
(namespace_name, inst_class, 'string_serialize', 'serialize'))
|
|
|
|
return WrapperTemplate.class_serialize_method.format(
|
|
wrapper=self._wrapper_name(),
|
|
wrapper_id=wrapper_id,
|
|
class_name=namespace_name + '.' + class_name)
|
|
|
|
def wrap_collector_function_serialize(self,
|
|
class_name,
|
|
full_name='',
|
|
namespace=''):
|
|
"""
|
|
Wrap the serizalize collector function.
|
|
"""
|
|
return WrapperTemplate.collector_function_serialize.format(
|
|
class_name=class_name, full_name=full_name, namespace=namespace)
|
|
|
|
def wrap_collector_function_deserialize(self,
|
|
class_name,
|
|
full_name='',
|
|
namespace=''):
|
|
"""
|
|
Wrap the deserizalize collector function.
|
|
"""
|
|
return WrapperTemplate.collector_function_deserialize.format(
|
|
class_name=class_name, full_name=full_name, namespace=namespace)
|
|
|
|
def generate_content(self, cc_content, path):
|
|
"""
|
|
Generate files and folders from matlab wrapper content.
|
|
|
|
Args:
|
|
cc_content: The content to generate formatted as
|
|
(file_name, file_content) or
|
|
(folder_name, [(file_name, file_content)])
|
|
path: The path to the files parent folder within the main folder
|
|
"""
|
|
for c in cc_content:
|
|
if isinstance(c, list):
|
|
if len(c) == 0:
|
|
continue
|
|
|
|
path_to_folder = osp.join(path, c[0][0])
|
|
|
|
if not osp.isdir(path_to_folder):
|
|
try:
|
|
os.makedirs(path_to_folder, exist_ok=True)
|
|
except OSError:
|
|
pass
|
|
|
|
for sub_content in c:
|
|
self.generate_content(sub_content[1], path_to_folder)
|
|
|
|
elif isinstance(c[1], list):
|
|
path_to_folder = osp.join(path, c[0])
|
|
|
|
if not osp.isdir(path_to_folder):
|
|
try:
|
|
os.makedirs(path_to_folder, exist_ok=True)
|
|
except OSError:
|
|
pass
|
|
for sub_content in c[1]:
|
|
path_to_file = osp.join(path_to_folder, sub_content[0])
|
|
with open(path_to_file, 'w') as f:
|
|
f.write(sub_content[1])
|
|
else:
|
|
path_to_file = osp.join(path, c[0])
|
|
|
|
if not osp.isdir(path_to_file):
|
|
try:
|
|
os.mkdir(path)
|
|
except OSError:
|
|
pass
|
|
|
|
with open(path_to_file, 'w') as f:
|
|
f.write(c[1])
|
|
|
|
def wrap(self, files, path):
|
|
"""High level function to wrap the project."""
|
|
content = ""
|
|
modules = {}
|
|
for file in files:
|
|
with open(file, 'r') as f:
|
|
content += f.read()
|
|
|
|
# Parse the contents of the interface file
|
|
parsed_result = parser.Module.parseString(content)
|
|
|
|
# Instantiate the module
|
|
module = instantiator.instantiate_namespace(parsed_result)
|
|
|
|
if module.name in modules:
|
|
modules[
|
|
module.name].content[0].content += module.content[0].content
|
|
else:
|
|
modules[module.name] = module
|
|
|
|
for module in modules.values():
|
|
# Wrap the full namespace
|
|
self.wrap_namespace(module)
|
|
self.generate_wrapper(module)
|
|
|
|
# Generate the corresponding .m and .cpp files
|
|
self.generate_content(self.content, path)
|
|
|
|
return self.content
|