From 8944f024012490b69d83c92925a2e36cbd505d64 Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <dta-huynh@irobot.com>
Date: Fri, 9 Sep 2016 22:28:15 -0400
Subject: [PATCH] add headers, small refactor, test FastContainers

---
 wrap/Module.cpp               | 44 ++++++++++++++++++++++++++++-------
 wrap/Module.h                 |  4 +++-
 wrap/tests/cythontest.h       | 15 ++++++++++++
 wrap/tests/testWrapCython.cpp |  2 +-
 4 files changed, 55 insertions(+), 10 deletions(-)

diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index 3906b40a8..7c27f9170 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -284,13 +284,35 @@ void Module::matlab_code(const string& toolboxPath) const {
 }
 
 /* ************************************************************************* */ 
-void Module::cython_code(const string& toolboxPath) const {
-
+void Module::cython_wrapper(const string& toolboxPath) const {
   fs::create_directories(toolboxPath);
-
-  /// Create cython pxd file
   string pxdFileName = toolboxPath + "/" + name + "_wrapper" + ".pxd";
   FileWriter pxdFile(pxdFileName, verbose, "#");
+  emit_cython_pxd(pxdFile);
+  string pyxFileName = toolboxPath + "/" + name + ".pyx";
+  FileWriter pyxFile(pyxFileName, verbose, "#");
+  emit_cython_pyx(pyxFile);
+}
+
+/* ************************************************************************* */ 
+void Module::emit_cython_pxd(FileWriter& pxdFile) const {
+  // headers
+  pxdFile.oss << "from eigency.core cimport *\n"
+                 "from libcpp.string cimport string\n"
+                 "from libcpp.vector cimport vector\n"
+                 "from libcpp.pair cimport pair\n"
+                 "from libcpp.set cimport set\n"
+                 "from libcpp.map cimport map\n"
+                 "from libcpp cimport bool\n\n";
+
+  // boost shared_ptr
+  pxdFile.oss << "cdef extern from \"boost/shared_ptr.hpp\" namespace \"boost\":\n"
+                 "\tcppclass shared_ptr[T]:\n"
+                 "\t\tshared_ptr()\n"
+                 "\t\tshared_ptr(T*)\n"
+                 "\t\tT* get()\n"
+                 "\t\tT& operator*()\n\n";
+
   //... wrap all classes
   for(const Class& cls: uninstantiatedClasses)
     cls.emit_cython_pxd(pxdFile);
@@ -304,13 +326,19 @@ void Module::cython_code(const string& toolboxPath) const {
       pxdFile.oss << "] " << cls.cythonClassName() << "\n";
     }
   }
-  // finish pxd wrapper file
   pxdFile.oss << "\n";
   pxdFile.emit(true);
+}
 
-  /// Create cython pyx file
-  string pyxFileName = toolboxPath + "/" + name + ".pyx";
-  FileWriter pyxFile(pyxFileName, verbose, "#");
+/* ************************************************************************* */ 
+void Module::emit_cython_pyx(FileWriter& pyxFile) const {
+  // headers...
+  pyxFile.oss << "cimport numpy as np\n"
+                 "cimport gtsam_wrapper as gtsam\n"
+                 "from gtsam_wrapper cimport shared_ptr\n"
+                 "from eigency.core cimport *\n"
+                 "from libcpp.string cimport string\n"
+                 "from cython.operator cimport dereference as deref\n\n\n";
   for(const Class& cls: expandedClasses)
     cls.emit_cython_pyx(pyxFile, expandedClasses);
   pyxFile.oss << "\n";
diff --git a/wrap/Module.h b/wrap/Module.h
index 163860e93..64ce5dea1 100644
--- a/wrap/Module.h
+++ b/wrap/Module.h
@@ -64,7 +64,9 @@ struct Module {
   void matlab_code(const std::string& path) const;
 
   /// Cython code generation:
-  void cython_code(const std::string& path) const;
+  void cython_wrapper(const std::string& path) const;
+  void emit_cython_pxd(FileWriter& file) const;
+  void emit_cython_pyx(FileWriter& file) const;
 
   void generateIncludes(FileWriter& file) const;
 
diff --git a/wrap/tests/cythontest.h b/wrap/tests/cythontest.h
index ee3ee5d13..62597bcd8 100644
--- a/wrap/tests/cythontest.h
+++ b/wrap/tests/cythontest.h
@@ -1,5 +1,20 @@
 namespace gtsam {
 
+#include <gtsam/base/FastVector.h>
+template<T> class FastVector{};
+typedef gtsam::FastVector<Point3> KeyVector;
+
+#include <gtsam/base/FastList.h>
+template<T> class FastList{};
+typedef gtsam::FastList<size_t> KeyList;
+
+#include <gtsam/base/FastSet.h>
+template<T> class FastSet{};
+typedef gtsam::FastSet<size_t> KeySet;
+
+#include <gtsam/base/FastMap.h>
+template<K,V> class FastMap{};
+
 #include <gtsam/geometry/Point3.h>
 class Point3 {
   // Standard Constructors
diff --git a/wrap/tests/testWrapCython.cpp b/wrap/tests/testWrapCython.cpp
index 2ced4d1ed..37141c4b0 100644
--- a/wrap/tests/testWrapCython.cpp
+++ b/wrap/tests/testWrapCython.cpp
@@ -51,7 +51,7 @@ TEST( wrap, cython_code_geometry ) {
 
   // emit MATLAB code
   // make_geometry will not compile, use make testwrap to generate real make
-  module.cython_code("actual-cython");
+  module.cython_wrapper("actual-cython");
 }
 
 /* ************************************************************************* */