diff --git a/gtsam.h b/gtsam.h index 46ea37241..73f73389c 100644 --- a/gtsam.h +++ b/gtsam.h @@ -702,17 +702,17 @@ class VariableIndex { #include namespace noiseModel { -class Base { +virtual class Base { }; -class Gaussian : gtsam::noiseModel::Base { +virtual class Gaussian : gtsam::noiseModel::Base { static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R); // Matrix R() const; // FIXME: cannot parse!!! void print(string s) const; }; -class Diagonal : gtsam::noiseModel::Gaussian { +virtual class Diagonal : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas); static gtsam::noiseModel::Diagonal* Variances(Vector variances); static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); @@ -720,14 +720,14 @@ class Diagonal : gtsam::noiseModel::Gaussian { void print(string s) const; }; -class Isotropic : gtsam::noiseModel::Gaussian { +virtual class Isotropic : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma); static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); void print(string s) const; }; -class Unit : gtsam::noiseModel::Gaussian { +virtual class Unit : gtsam::noiseModel::Gaussian { static gtsam::noiseModel::Unit* Create(size_t dim); void print(string s) const; }; diff --git a/wrap/Module.cpp b/wrap/Module.cpp index 6109da928..413fc84b8 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -1,355 +1,355 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file Module.ccp - * @author Frank Dellaert - * @author Alex Cunningham - * @author Andrew Melim - **/ - -#include "Module.h" -#include "FileWriter.h" -#include "utilities.h" -#include "spirit_actors.h" - -//#define BOOST_SPIRIT_DEBUG -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -using namespace std; -using namespace wrap; -using namespace BOOST_SPIRIT_CLASSIC_NS; -namespace bl = boost::lambda; -namespace fs = boost::filesystem; - -typedef rule Rule; - -/* ************************************************************************* */ -// We parse an interface file into a Module object. -// The grammar is defined using the boost/spirit combinatorial parser. -// For example, str_p("const") parses the string "const", and the >> -// operator creates a sequence parser. The grammar below, composed of rules -// and with start rule [class_p], doubles as the specs for our interface files. -/* ************************************************************************* */ - -Module::Module(const string& interfacePath, - const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) -{ - // these variables will be imperatively updated to gradually build [cls] - // The one with postfix 0 are used to reset the variables after parse. - string methodName, methodName0; - bool isConst, isConst0 = false; - ReturnValue retVal0, retVal; - Argument arg0, arg; - ArgumentList args0, args; - vector arg_dup; ///keep track of duplicates - Constructor constructor0(enable_verbose), constructor(enable_verbose); - Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - //Method method0(enable_verbose), method(enable_verbose); - StaticMethod static_method0(enable_verbose), static_method(enable_verbose); - Class cls0(enable_verbose),cls(enable_verbose); - ForwardDeclaration fwDec0, fwDec; - vector namespaces, /// current namespace tag - namespace_includes, /// current set of includes - namespaces_return, /// namespace for current return type - using_namespace_current; /// All namespaces from "using" declarations - string include_path = ""; - const string null_str = ""; - - //---------------------------------------------------------------------------- - // Grammar with actions that build the Class object. Actions are - // defined within the square brackets [] and are executed whenever a - // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. - // The grammar is allows a very restricted C++ header - // lexeme_d turns off white space skipping - // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html - // ---------------------------------------------------------------------------- - - Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); - - Rule basisType_p = - (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); - - Rule keywords_p = - (str_p("const") | "static" | "namespace" | basisType_p); - - Rule eigenType_p = - (str_p("Vector") | "Matrix"); - - Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); - - Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; - - Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); - - Rule argEigenType_p = - eigenType_p[assign_a(arg.type)] >> - !ch_p('*')[assign_a(arg.is_ptr,true)]; - - Rule eigenRef_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - eigenType_p [assign_a(arg.type)] >> - ch_p('&') [assign_a(arg.is_ref,true)]; - - Rule classArg_p = - !str_p("const") [assign_a(arg.is_const,true)] >> - *namespace_arg_p >> - className_p[assign_a(arg.type)] >> - (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); - - Rule classParent_p = - *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> - className_p[push_back_a(cls.qualifiedParent)]; - - Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; - - Rule argument_p = - ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) - >> name_p[assign_a(arg.name)]) - [push_back_a(args, arg)] - [assign_a(arg,arg0)]; - - Rule argumentList_p = !argument_p >> * (',' >> argument_p); - - Rule constructor_p = - (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) - [push_back_a(constructor.args_list, args)] - [assign_a(args,args0)]; - //[assign_a(constructor.args,args)] - //[assign_a(constructor.name,cls.name)] - //[push_back_a(cls.constructors, constructor)] - //[assign_a(constructor,constructor0)]; - - Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); - - Rule returnType1_p = - (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> - !ch_p('*')[assign_a(retVal.isPtr1,true)]) | - (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); - - Rule returnType2_p = - (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> - !ch_p('*') [assign_a(retVal.isPtr2,true)]) | - (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); - - Rule pair_p = - (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') - [assign_a(retVal.isPair,true)]; - - Rule void_p = str_p("void")[assign_a(retVal.type1)]; - - Rule returnType_p = void_p | returnType1_p | pair_p; - - Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; - - Rule method_p = - (returnType_p >> methodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> - !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) - [bl::bind(&Method::addOverload, - bl::var(cls.methods)[bl::var(methodName)], - verbose, - bl::var(isConst), - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(isConst,isConst0)] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; - - Rule static_method_p = - (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> - '(' >> argumentList_p >> ')' >> ';' >> *comments_p) - [bl::bind(&StaticMethod::addOverload, - bl::var(cls.static_methods)[bl::var(methodName)], - verbose, - bl::var(methodName), - bl::var(args), - bl::var(retVal))] - [assign_a(methodName,methodName0)] - [assign_a(args,args0)] - [assign_a(retVal,retVal0)]; - - Rule functions_p = constructor_p | method_p | static_method_p; - - Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); - - Rule class_p = - (!*include_p - >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) - >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] - >> className_p[assign_a(cls.name)] - >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec - >> *(functions_p | comments_p) - >> str_p("};")) - [assign_a(constructor.name, cls.name)] - [assign_a(cls.constructor, constructor)] - [assign_a(cls.namespaces, namespaces)] - [assign_a(cls.using_namespaces, using_namespace_current)] - [append_a(cls.includes, namespace_includes)] - [assign_a(deconstructor.name,cls.name)] - [assign_a(cls.deconstructor, deconstructor)] - [push_back_a(classes, cls)] - [assign_a(deconstructor,deconstructor0)] - [assign_a(constructor, constructor0)] - [assign_a(cls,cls0)]; - - Rule namespace_def_p = - (!*include_p - >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] - >> namespace_name_p[push_back_a(namespaces)] - >> ch_p('{') - >> *(class_p | namespace_def_p | comments_p) - >> str_p("}///\\namespace") // end namespace, avoid confusion with classes - >> !namespace_name_p) - [pop_a(namespaces)] - [pop_a(namespace_includes)]; - - Rule using_namespace_p = - str_p("using") >> str_p("namespace") - >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); - - Rule forward_declaration_p = - !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) - >> str_p("class") - >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] - >> ch_p(';') - [push_back_a(forward_declarations, fwDec)] - [assign_a(fwDec, fwDec0)]; - - Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; - - Rule module_p = *module_content_p >> !end_p; - - //---------------------------------------------------------------------------- - // for debugging, define BOOST_SPIRIT_DEBUG -# ifdef BOOST_SPIRIT_DEBUG - BOOST_SPIRIT_DEBUG_NODE(className_p); - BOOST_SPIRIT_DEBUG_NODE(classPtr_p); - BOOST_SPIRIT_DEBUG_NODE(classRef_p); - BOOST_SPIRIT_DEBUG_NODE(basisType_p); - BOOST_SPIRIT_DEBUG_NODE(name_p); - BOOST_SPIRIT_DEBUG_NODE(argument_p); - BOOST_SPIRIT_DEBUG_NODE(argumentList_p); - BOOST_SPIRIT_DEBUG_NODE(constructor_p); - BOOST_SPIRIT_DEBUG_NODE(returnType1_p); - BOOST_SPIRIT_DEBUG_NODE(returnType2_p); - BOOST_SPIRIT_DEBUG_NODE(pair_p); - BOOST_SPIRIT_DEBUG_NODE(void_p); - BOOST_SPIRIT_DEBUG_NODE(returnType_p); - BOOST_SPIRIT_DEBUG_NODE(methodName_p); - BOOST_SPIRIT_DEBUG_NODE(method_p); - BOOST_SPIRIT_DEBUG_NODE(class_p); - BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); - BOOST_SPIRIT_DEBUG_NODE(module_p); -# endif - //---------------------------------------------------------------------------- - - // read interface file - string interfaceFile = interfacePath + "/" + moduleName + ".h"; - string contents = file_contents(interfaceFile); - - // and parse contents - parse_info info = parse(contents.c_str(), module_p, space_p); - if(!info.full) { - printf("parsing stopped at \n%.20s\n",info.stop); - throw ParseFailed(info.length); - } -} - -/* ************************************************************************* */ -template -void verifyArguments(const vector& validArgs, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ArgumentList& argList, t.argLists) { - BOOST_FOREACH(Argument arg, argList) { - string fullType = arg.qualifiedType("::"); - if(find(validArgs.begin(), validArgs.end(), fullType) - == validArgs.end()) - throw DependencyMissing(fullType, t.name); - } - } - } -} - -/* ************************************************************************* */ -template -void verifyReturnTypes(const vector& validtypes, const map& vt) { - typedef typename map::value_type Name_Method; - BOOST_FOREACH(const Name_Method& name_method, vt) { - const T& t = name_method.second; - BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { - if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType1("::"), t.name); - if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) - throw DependencyMissing(retval.qualifiedType2("::"), t.name); - } - } -} - -/* ************************************************************************* */ -void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { - - fs::create_directories(toolboxPath); - - // create the unified .cpp switch file - const string wrapperName = name + "_wrapper"; - string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; - FileWriter wrapperFile(wrapperFileName, verbose, "//"); - vector functionNames; // Function names stored by index for switch - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "\n"; - - // Dependency check list - vector validTypes; - BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { - validTypes.push_back(fwDec.name); - } - validTypes.push_back("void"); - validTypes.push_back("string"); - validTypes.push_back("int"); - validTypes.push_back("bool"); - validTypes.push_back("char"); - validTypes.push_back("unsigned char"); - validTypes.push_back("size_t"); - validTypes.push_back("double"); - validTypes.push_back("Vector"); - validTypes.push_back("Matrix"); +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file Module.ccp + * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim + **/ + +#include "Module.h" +#include "FileWriter.h" +#include "utilities.h" +#include "spirit_actors.h" + +//#define BOOST_SPIRIT_DEBUG +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace std; +using namespace wrap; +using namespace BOOST_SPIRIT_CLASSIC_NS; +namespace bl = boost::lambda; +namespace fs = boost::filesystem; + +typedef rule Rule; + +/* ************************************************************************* */ +// We parse an interface file into a Module object. +// The grammar is defined using the boost/spirit combinatorial parser. +// For example, str_p("const") parses the string "const", and the >> +// operator creates a sequence parser. The grammar below, composed of rules +// and with start rule [class_p], doubles as the specs for our interface files. +/* ************************************************************************* */ + +Module::Module(const string& interfacePath, + const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) +{ + // these variables will be imperatively updated to gradually build [cls] + // The one with postfix 0 are used to reset the variables after parse. + string methodName, methodName0; + bool isConst, isConst0 = false; + ReturnValue retVal0, retVal; + Argument arg0, arg; + ArgumentList args0, args; + vector arg_dup; ///keep track of duplicates + Constructor constructor0(enable_verbose), constructor(enable_verbose); + Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); + //Method method0(enable_verbose), method(enable_verbose); + StaticMethod static_method0(enable_verbose), static_method(enable_verbose); + Class cls0(enable_verbose),cls(enable_verbose); + ForwardDeclaration fwDec0, fwDec; + vector namespaces, /// current namespace tag + namespace_includes, /// current set of includes + namespaces_return, /// namespace for current return type + using_namespace_current; /// All namespaces from "using" declarations + string include_path = ""; + const string null_str = ""; + + //---------------------------------------------------------------------------- + // Grammar with actions that build the Class object. Actions are + // defined within the square brackets [] and are executed whenever a + // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. + // The grammar is allows a very restricted C++ header + // lexeme_d turns off white space skipping + // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html + // ---------------------------------------------------------------------------- + + Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p); + + Rule basisType_p = + (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); + + Rule keywords_p = + (str_p("const") | "static" | "namespace" | basisType_p); + + Rule eigenType_p = + (str_p("Vector") | "Matrix"); + + Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p); + + Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p; + + Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); + + Rule argEigenType_p = + eigenType_p[assign_a(arg.type)] >> + !ch_p('*')[assign_a(arg.is_ptr,true)]; + + Rule eigenRef_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + eigenType_p [assign_a(arg.type)] >> + ch_p('&') [assign_a(arg.is_ref,true)]; + + Rule classArg_p = + !str_p("const") [assign_a(arg.is_const,true)] >> + *namespace_arg_p >> + className_p[assign_a(arg.type)] >> + (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + + Rule classParent_p = + *(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >> + className_p[push_back_a(cls.qualifiedParent)]; + + Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; + + Rule argument_p = + ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) + >> name_p[assign_a(arg.name)]) + [push_back_a(args, arg)] + [assign_a(arg,arg0)]; + + Rule argumentList_p = !argument_p >> * (',' >> argument_p); + + Rule constructor_p = + (className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p) + [push_back_a(constructor.args_list, args)] + [assign_a(args,args0)]; + //[assign_a(constructor.args,args)] + //[assign_a(constructor.name,cls.name)] + //[push_back_a(cls.constructors, constructor)] + //[assign_a(constructor,constructor0)]; + + Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); + + Rule returnType1_p = + (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> + !ch_p('*')[assign_a(retVal.isPtr1,true)]) | + (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); + + Rule returnType2_p = + (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> + !ch_p('*') [assign_a(retVal.isPtr2,true)]) | + (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); + + Rule pair_p = + (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') + [assign_a(retVal.isPair,true)]; + + Rule void_p = str_p("void")[assign_a(retVal.type1)]; + + Rule returnType_p = void_p | returnType1_p | pair_p; + + Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; + + Rule method_p = + (returnType_p >> methodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> + !str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p) + [bl::bind(&Method::addOverload, + bl::var(cls.methods)[bl::var(methodName)], + verbose, + bl::var(isConst), + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(isConst,isConst0)] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')]; + + Rule static_method_p = + (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >> + '(' >> argumentList_p >> ')' >> ';' >> *comments_p) + [bl::bind(&StaticMethod::addOverload, + bl::var(cls.static_methods)[bl::var(methodName)], + verbose, + bl::var(methodName), + bl::var(args), + bl::var(retVal))] + [assign_a(methodName,methodName0)] + [assign_a(args,args0)] + [assign_a(retVal,retVal0)]; + + Rule functions_p = constructor_p | method_p | static_method_p; + + Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>'); + + Rule class_p = + (!*include_p + >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) + >> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)] + >> className_p[assign_a(cls.name)] + >> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec + >> *(functions_p | comments_p) + >> str_p("};")) + [assign_a(constructor.name, cls.name)] + [assign_a(cls.constructor, constructor)] + [assign_a(cls.namespaces, namespaces)] + [assign_a(cls.using_namespaces, using_namespace_current)] + [append_a(cls.includes, namespace_includes)] + [assign_a(deconstructor.name,cls.name)] + [assign_a(cls.deconstructor, deconstructor)] + [push_back_a(classes, cls)] + [assign_a(deconstructor,deconstructor0)] + [assign_a(constructor, constructor0)] + [assign_a(cls,cls0)]; + + Rule namespace_def_p = + (!*include_p + >> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)] + >> namespace_name_p[push_back_a(namespaces)] + >> ch_p('{') + >> *(class_p | namespace_def_p | comments_p) + >> str_p("}///\\namespace") // end namespace, avoid confusion with classes + >> !namespace_name_p) + [pop_a(namespaces)] + [pop_a(namespace_includes)]; + + Rule using_namespace_p = + str_p("using") >> str_p("namespace") + >> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';'); + + Rule forward_declaration_p = + !(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) + >> str_p("class") + >> (*(namespace_name_p >> str_p("::")) >> className_p)[assign_a(fwDec.name)] + >> ch_p(';') + [push_back_a(forward_declarations, fwDec)] + [assign_a(fwDec, fwDec0)]; + + Rule module_content_p = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ; + + Rule module_p = *module_content_p >> !end_p; + + //---------------------------------------------------------------------------- + // for debugging, define BOOST_SPIRIT_DEBUG +# ifdef BOOST_SPIRIT_DEBUG + BOOST_SPIRIT_DEBUG_NODE(className_p); + BOOST_SPIRIT_DEBUG_NODE(classPtr_p); + BOOST_SPIRIT_DEBUG_NODE(classRef_p); + BOOST_SPIRIT_DEBUG_NODE(basisType_p); + BOOST_SPIRIT_DEBUG_NODE(name_p); + BOOST_SPIRIT_DEBUG_NODE(argument_p); + BOOST_SPIRIT_DEBUG_NODE(argumentList_p); + BOOST_SPIRIT_DEBUG_NODE(constructor_p); + BOOST_SPIRIT_DEBUG_NODE(returnType1_p); + BOOST_SPIRIT_DEBUG_NODE(returnType2_p); + BOOST_SPIRIT_DEBUG_NODE(pair_p); + BOOST_SPIRIT_DEBUG_NODE(void_p); + BOOST_SPIRIT_DEBUG_NODE(returnType_p); + BOOST_SPIRIT_DEBUG_NODE(methodName_p); + BOOST_SPIRIT_DEBUG_NODE(method_p); + BOOST_SPIRIT_DEBUG_NODE(class_p); + BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); + BOOST_SPIRIT_DEBUG_NODE(module_p); +# endif + //---------------------------------------------------------------------------- + + // read interface file + string interfaceFile = interfacePath + "/" + moduleName + ".h"; + string contents = file_contents(interfaceFile); + + // and parse contents + parse_info info = parse(contents.c_str(), module_p, space_p); + if(!info.full) { + printf("parsing stopped at \n%.20s\n",info.stop); + throw ParseFailed(info.length); + } +} + +/* ************************************************************************* */ +template +void verifyArguments(const vector& validArgs, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ArgumentList& argList, t.argLists) { + BOOST_FOREACH(Argument arg, argList) { + string fullType = arg.qualifiedType("::"); + if(find(validArgs.begin(), validArgs.end(), fullType) + == validArgs.end()) + throw DependencyMissing(fullType, t.name); + } + } + } +} + +/* ************************************************************************* */ +template +void verifyReturnTypes(const vector& validtypes, const map& vt) { + typedef typename map::value_type Name_Method; + BOOST_FOREACH(const Name_Method& name_method, vt) { + const T& t = name_method.second; + BOOST_FOREACH(const ReturnValue& retval, t.returnVals) { + if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType1("::"), t.name); + if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end()) + throw DependencyMissing(retval.qualifiedType2("::"), t.name); + } + } +} + +/* ************************************************************************* */ +void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { + + fs::create_directories(toolboxPath); + + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + vector functionNames; // Function names stored by index for switch + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + + // Dependency check list + vector validTypes; + BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { + validTypes.push_back(fwDec.name); + } + validTypes.push_back("void"); + validTypes.push_back("string"); + validTypes.push_back("int"); + validTypes.push_back("bool"); + validTypes.push_back("char"); + validTypes.push_back("unsigned char"); + validTypes.push_back("size_t"); + validTypes.push_back("double"); + validTypes.push_back("Vector"); + validTypes.push_back("Matrix"); //Create a list of parsed classes for dependency checking BOOST_FOREACH(const Class& cls, classes) { validTypes.push_back(cls.qualifiedName("::")); - } - + } + // Create type attributes table ReturnValue::TypeAttributesTable typeAttributes; BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) { @@ -359,71 +359,80 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co BOOST_FOREACH(const Class& cls, classes) { if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second) throw DuplicateDefinition("class " + cls.qualifiedName("::")); - - // Check that class is virtual if it has a parent } - - // Check that all classes have been defined somewhere - BOOST_FOREACH(const Class& cls, classes) { - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); - } - - // Generate all includes + // Check attributes BOOST_FOREACH(const Class& cls, classes) { - generateIncludes(wrapperFile, cls.name, cls.includes); - } - wrapperFile.oss << "\n"; - - // Generate all collectors + // Check that class is virtual if it has a parent + if(!cls.qualifiedParent.empty() && !cls.isVirtual) + throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'"); + // Check that parent is virtual as well + if(!cls.qualifiedParent.empty() && !typeAttributes.at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual) + throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent), + "Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual"); + } + + // Check that all classes have been defined somewhere BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); - wrapperFile.oss << "typedef std::set*> " - << "Collector_" << matlabName << ";\n"; - wrapperFile.oss << "static Collector_" << matlabName << - " collector_" << matlabName << ";\n"; - } - - // generate mexAtExit cleanup function - wrapperFile.oss << "void _deleteAllObjects()\n"; - wrapperFile.oss << "{\n"; + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + } + + // Generate all includes BOOST_FOREACH(const Class& cls, classes) { - const string matlabName = cls.qualifiedName(); - const string cppName = cls.qualifiedName("::"); - const string collectorType = "Collector_" + matlabName; - const string collectorName = "collector_" + matlabName; - wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; - wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; - wrapperFile.oss << " delete *iter;\n"; - wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; - wrapperFile.oss << " }\n"; - } - wrapperFile.oss << "}\n"; - - // create proxy class and wrapper code + generateIncludes(wrapperFile, cls.name, cls.includes); + } + wrapperFile.oss << "\n"; + + // Generate all collectors BOOST_FOREACH(const Class& cls, classes) { - string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; - cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // finish wrapper file - finish_wrapper(wrapperFile, functionNames); - - wrapperFile.emit(true); - } - -/* ************************************************************************* */ - void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { - file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; - file.oss << "{\n"; + const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::"); + wrapperFile.oss << "typedef std::set*> " + << "Collector_" << matlabName << ";\n"; + wrapperFile.oss << "static Collector_" << matlabName << + " collector_" << matlabName << ";\n"; + } + + // generate mexAtExit cleanup function + wrapperFile.oss << "\nvoid _deleteAllObjects()\n"; + wrapperFile.oss << "{\n"; + BOOST_FOREACH(const Class& cls, classes) { + const string matlabName = cls.qualifiedName(); + const string cppName = cls.qualifiedName("::"); + const string collectorType = "Collector_" + matlabName; + const string collectorName = "collector_" + matlabName; + wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"; + wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n"; + wrapperFile.oss << " delete *iter;\n"; + wrapperFile.oss << " " << collectorName << ".erase(iter++);\n"; + wrapperFile.oss << " }\n"; + } + wrapperFile.oss << "}\n"; + + // create proxy class and wrapper code + BOOST_FOREACH(const Class& cls, classes) { + string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m"; + cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames); + } + + // finish wrapper file + wrapperFile.oss << "\n"; + finish_wrapper(wrapperFile, functionNames); + + wrapperFile.emit(true); + } + +/* ************************************************************************* */ + void Module::finish_wrapper(FileWriter& file, const std::vector& functionNames) const { + file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; + file.oss << "{\n"; file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h - file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; + file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; file.oss << " int id = unwrap(in[0]);\n\n"; file.oss << " switch(id) {\n"; for(size_t id = 0; id < functionNames.size(); ++id) { @@ -433,8 +442,8 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co } file.oss << " }\n"; file.oss << "\n"; - file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h + file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h file.oss << "}\n"; - } - -/* ************************************************************************* */ + } + +/* ************************************************************************* */ diff --git a/wrap/utilities.h b/wrap/utilities.h index f84a28b51..99e19a755 100644 --- a/wrap/utilities.h +++ b/wrap/utilities.h @@ -68,6 +68,16 @@ public: ~DuplicateDefinition() throw() {} virtual const char* what() const throw() { return what_.c_str(); } }; + +class AttributeError : public std::exception { +private: + const std::string what_; +public: + AttributeError(const std::string& name, const std::string& problem) : + what_("Class " + name + ": " + problem) {} + ~AttributeError() throw() {} + virtual const char* what() const throw() { return what_.c_str(); } +}; /** Special "magic number" passed into MATLAB constructor to indicate creating * a MATLAB object from a shared_ptr allocated in C++