Merge pull request #743 from borglab/feature/wrap-update
Varun Agrawal
GitHub
commit
9230e86bbf
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@ -72,6 +72,7 @@ function(pybind_wrap
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--template
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${module_template}
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${_WRAP_BOOST_ARG}
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DEPENDS ${interface_header} ${module_template}
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VERBATIM)
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add_custom_target(pybind_wrap_${module_name} ALL DEPENDS ${generated_cpp})
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@ -15,8 +15,8 @@ from typing import Iterable, List, Union
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from pyparsing import Optional, ParseResults, delimitedList
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from .template import Template
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from .tokens import (COMMA, IDENT, LOPBRACK, LPAREN, PAIR, ROPBRACK, RPAREN,
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SEMI_COLON)
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from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR,
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ROPBRACK, RPAREN, SEMI_COLON)
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from .type import TemplatedType, Type
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@ -29,15 +29,29 @@ class Argument:
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void sayHello(/*`s` is the method argument with type `const string&`*/ const string& s);
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```
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"""
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rule = ((Type.rule ^ TemplatedType.rule)("ctype") +
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IDENT("name")).setParseAction(lambda t: Argument(t.ctype, t.name))
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rule = ((Type.rule ^ TemplatedType.rule)("ctype") + IDENT("name") + \
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Optional(EQUAL + (DEFAULT_ARG ^ Type.rule ^ TemplatedType.rule) + \
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Optional(LPAREN + RPAREN) # Needed to parse the parens for default constructors
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)("default")
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).setParseAction(lambda t: Argument(t.ctype, t.name, t.default))
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def __init__(self, ctype: Union[Type, TemplatedType], name: str):
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def __init__(self,
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ctype: Union[Type, TemplatedType],
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name: str,
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default: ParseResults = None):
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if isinstance(ctype, Iterable):
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self.ctype = ctype[0]
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else:
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self.ctype = ctype
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self.name = name
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# If the length is 1, it's a regular type,
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if len(default) == 1:
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default = default[0]
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# This means a tuple has been passed so we convert accordingly
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elif len(default) > 1:
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default = tuple(default.asList())
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self.default = default
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self.parent: Union[ArgumentList, None] = None
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def __repr__(self) -> str:
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@ -10,7 +10,9 @@ All the token definitions.
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Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
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"""
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from pyparsing import Keyword, Literal, Suppress, Word, alphanums, alphas, nums, Or
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from pyparsing import (Keyword, Literal, Or, QuotedString, Suppress, Word,
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alphanums, alphas, delimitedList, nums,
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pyparsing_common)
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# rule for identifiers (e.g. variable names)
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IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)
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@ -19,6 +21,18 @@ RAW_POINTER, SHARED_POINTER, REF = map(Literal, "@*&")
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LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;")
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LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=")
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# Encapsulating type for numbers, and single and double quoted strings.
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# The pyparsing_common utilities ensure correct coversion to the corresponding type.
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# E.g. pyparsing_common.number will convert 3.1415 to a float type.
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NUMBER_OR_STRING = (pyparsing_common.number ^ QuotedString('"') ^ QuotedString("'"))
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# A python tuple, e.g. (1, 9, "random", 3.1415)
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TUPLE = (LPAREN + delimitedList(NUMBER_OR_STRING) + RPAREN)
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# Default argument passed to functions/methods.
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DEFAULT_ARG = (NUMBER_OR_STRING ^ pyparsing_common.identifier ^ TUPLE)
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CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map(
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Keyword,
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[
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@ -203,9 +203,12 @@ class Type:
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raise ValueError("Parse result is not a Type")
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def __repr__(self) -> str:
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return "{self.is_const} {self.typename} " \
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"{self.is_shared_ptr}{self.is_ptr}{self.is_ref}".format(
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self=self)
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is_ptr_or_ref = "{0}{1}{2}".format(self.is_shared_ptr, self.is_ptr,
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self.is_ref)
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return "{is_const}{self.typename}{is_ptr_or_ref}".format(
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self=self,
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is_const="const " if self.is_const else "",
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is_ptr_or_ref=" " + is_ptr_or_ref if is_ptr_or_ref else "")
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def to_cpp(self, use_boost: bool) -> str:
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"""
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@ -45,7 +45,14 @@ class PybindWrapper:
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"""Set the argument names in Pybind11 format."""
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names = args_list.args_names()
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if names:
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py_args = ['py::arg("{}")'.format(name) for name in names]
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py_args = []
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for arg in args_list.args_list:
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if arg.default and isinstance(arg.default, str):
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arg.default = "\"{arg.default}\"".format(arg=arg)
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argument = 'py::arg("{name}"){default}'.format(
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name=arg.name,
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default=' = {0}'.format(arg.default) if arg.default else '')
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py_args.append(argument)
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return ", " + ", ".join(py_args)
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else:
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return ''
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@ -124,35 +131,29 @@ class PybindWrapper:
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suffix=suffix,
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))
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# Create __repr__ override
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# We allow all arguments to .print() and let the compiler handle type mismatches.
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if method.name == 'print':
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# Redirect stdout - see pybind docs for why this is a good idea:
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# https://pybind11.readthedocs.io/en/stable/advanced/pycpp/utilities.html#capturing-standard-output-from-ostream
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ret = ret.replace('self->', 'py::scoped_ostream_redirect output; self->')
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ret = ret.replace('self->print', 'py::scoped_ostream_redirect output; self->print')
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# __repr__() uses print's implementation:
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type_list = method.args.to_cpp(self.use_boost)
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if len(type_list) > 0 and type_list[0].strip() == 'string':
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class} &a) {{
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# Make __repr__() call print() internally
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class}& self{opt_comma}{args_signature_with_names}){{
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gtsam::RedirectCout redirect;
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a.print("");
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self.{method_name}({method_args});
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return redirect.str();
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}}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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suffix=suffix,
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)
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else:
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class} &a) {{
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gtsam::RedirectCout redirect;
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a.print();
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return redirect.str();
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}}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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suffix=suffix,
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)
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}}{py_args_names}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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opt_comma=', ' if args_names else '',
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args_signature_with_names=args_signature_with_names,
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method_name=method.name,
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method_args=", ".join(args_names) if args_names else '',
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py_args_names=py_args_names,
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suffix=suffix)
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return ret
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def wrap_methods(self, methods, cpp_class, prefix='\n' + ' ' * 8, suffix=''):
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@ -95,8 +95,10 @@ def instantiate_args_list(args_list, template_typenames, instantiations,
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for arg in args_list:
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new_type = instantiate_type(arg.ctype, template_typenames,
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instantiations, cpp_typename)
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default = [arg.default] if isinstance(arg, parser.Argument) else ''
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instantiated_args.append(parser.Argument(name=arg.name,
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ctype=new_type))
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ctype=new_type,
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default=default))
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return instantiated_args
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@ -4,6 +4,7 @@
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#include <pybind11/stl_bind.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/operators.h>
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#include <pybind11/iostream.h>
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#include "gtsam/base/serialization.h"
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#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
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@ -4,6 +4,9 @@
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%-------Constructors-------
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%MyFactorPosePoint2(size_t key1, size_t key2, double measured, Base noiseModel)
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%
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%-------Methods-------
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%print(string s, KeyFormatter keyFormatter) : returns void
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%
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classdef MyFactorPosePoint2 < handle
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properties
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ptr_MyFactorPosePoint2 = 0
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@ -29,6 +32,16 @@ classdef MyFactorPosePoint2 < handle
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%DISPLAY Calls print on the object
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function disp(obj), obj.display; end
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%DISP Calls print on the object
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function varargout = print(this, varargin)
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% PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
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% Doxygen can be found at https://gtsam.org/doxygen/
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if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
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class_wrapper(55, this, varargin{:});
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return
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end
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error('Arguments do not match any overload of function MyFactorPosePoint2.print');
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end
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end
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methods(Static = true)
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@ -1,6 +1,6 @@
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function varargout = TemplatedFunctionRot3(varargin)
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if length(varargin) == 1 && isa(varargin{1},'gtsam.Rot3')
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functions_wrapper(8, varargin{:});
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functions_wrapper(11, varargin{:});
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else
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error('Arguments do not match any overload of function TemplatedFunctionRot3');
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end
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@ -661,6 +661,15 @@ void MyFactorPosePoint2_deconstructor_54(int nargout, mxArray *out[], int nargin
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}
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}
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void MyFactorPosePoint2_print_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("print",nargout,nargin-1,2);
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auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
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string& s = *unwrap_shared_ptr< string >(in[1], "ptr_string");
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gtsam::KeyFormatter& keyFormatter = *unwrap_shared_ptr< gtsam::KeyFormatter >(in[2], "ptr_gtsamKeyFormatter");
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obj->print(s,keyFormatter);
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}
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void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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@ -838,6 +847,9 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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case 54:
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MyFactorPosePoint2_deconstructor_54(nargout, out, nargin-1, in+1);
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break;
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case 55:
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MyFactorPosePoint2_print_55(nargout, out, nargin-1, in+1);
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break;
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}
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} catch(const std::exception& e) {
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mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
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@ -196,7 +196,25 @@ void MultiTemplatedFunctionDoubleSize_tDouble_7(int nargout, mxArray *out[], int
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size_t y = unwrap< size_t >(in[1]);
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out[0] = wrap< double >(MultiTemplatedFunctionDoubleSize_tDouble(x,y));
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}
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void TemplatedFunctionRot3_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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void DefaultFuncInt_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("DefaultFuncInt",nargout,nargin,1);
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int a = unwrap< int >(in[0]);
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DefaultFuncInt(a);
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}
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void DefaultFuncString_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("DefaultFuncString",nargout,nargin,1);
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string& s = *unwrap_shared_ptr< string >(in[0], "ptr_string");
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DefaultFuncString(s);
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}
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void DefaultFuncObj_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("DefaultFuncObj",nargout,nargin,1);
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gtsam::KeyFormatter& keyFormatter = *unwrap_shared_ptr< gtsam::KeyFormatter >(in[0], "ptr_gtsamKeyFormatter");
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DefaultFuncObj(keyFormatter);
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}
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void TemplatedFunctionRot3_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("TemplatedFunctionRot3",nargout,nargin,1);
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gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3");
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@ -239,7 +257,16 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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MultiTemplatedFunctionDoubleSize_tDouble_7(nargout, out, nargin-1, in+1);
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break;
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case 8:
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TemplatedFunctionRot3_8(nargout, out, nargin-1, in+1);
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DefaultFuncInt_8(nargout, out, nargin-1, in+1);
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break;
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case 9:
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DefaultFuncString_9(nargout, out, nargin-1, in+1);
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break;
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case 10:
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DefaultFuncObj_10(nargout, out, nargin-1, in+1);
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break;
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case 11:
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TemplatedFunctionRot3_11(nargout, out, nargin-1, in+1);
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break;
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}
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} catch(const std::exception& e) {
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@ -57,9 +57,9 @@ PYBIND11_MODULE(class_py, m_) {
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.def("return_ptrs",[](Test* self, std::shared_ptr<Test> p1, std::shared_ptr<Test> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
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.def("print_",[](Test* self){ py::scoped_ostream_redirect output; self->print();})
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.def("__repr__",
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[](const Test &a) {
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[](const Test& self){
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gtsam::RedirectCout redirect;
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a.print();
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self.print();
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return redirect.str();
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})
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.def("set_container",[](Test* self, std::vector<testing::Test> container){ self->set_container(container);}, py::arg("container"))
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@ -83,7 +83,14 @@ PYBIND11_MODULE(class_py, m_) {
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py::class_<MultipleTemplates<int, float>, std::shared_ptr<MultipleTemplates<int, float>>>(m_, "MultipleTemplatesIntFloat");
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py::class_<MyFactor<gtsam::Pose2, gtsam::Matrix>, std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>>(m_, "MyFactorPosePoint2")
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.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"));
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.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"))
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.def("print_",[](MyFactor<gtsam::Pose2, gtsam::Matrix>* self, const string& s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter)
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.def("__repr__",
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[](const MyFactor<gtsam::Pose2, gtsam::Matrix>& self, const string& s, const gtsam::KeyFormatter& keyFormatter){
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gtsam::RedirectCout redirect;
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self.print(s, keyFormatter);
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return redirect.str();
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}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter);
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#include "python/specializations.h"
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@ -30,6 +30,9 @@ PYBIND11_MODULE(functions_py, m_) {
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m_.def("overloadedGlobalFunction",[](int a, double b){return ::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b"));
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m_.def("MultiTemplatedFunctionStringSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction<string,size_t,double>(x, y);}, py::arg("x"), py::arg("y"));
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m_.def("MultiTemplatedFunctionDoubleSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction<double,size_t,double>(x, y);}, py::arg("x"), py::arg("y"));
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m_.def("DefaultFuncInt",[](int a){ ::DefaultFuncInt(a);}, py::arg("a") = 123);
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m_.def("DefaultFuncString",[](const string& s){ ::DefaultFuncString(s);}, py::arg("s") = "hello");
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m_.def("DefaultFuncObj",[](const gtsam::KeyFormatter& keyFormatter){ ::DefaultFuncObj(keyFormatter);}, py::arg("keyFormatter") = gtsam::DefaultKeyFormatter);
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m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<Rot3>(t);}, py::arg("t"));
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#include "python/specializations.h"
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@ -79,6 +79,8 @@ virtual class ns::OtherClass;
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template<POSE, POINT>
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class MyFactor {
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MyFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
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void print(const string &s = "factor: ",
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const gtsam::KeyFormatter &keyFormatter = gtsam::DefaultKeyFormatter);
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};
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// and a typedef specializing it
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@ -26,3 +26,8 @@ template<T>
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void TemplatedFunction(const T& t);
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typedef TemplatedFunction<gtsam::Rot3> TemplatedFunctionRot3;
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// Check default arguments
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void DefaultFuncInt(int a = 123);
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void DefaultFuncString(const string& s = "hello");
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void DefaultFuncObj(const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);
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@ -179,6 +179,33 @@ class TestInterfaceParser(unittest.TestCase):
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self.assertEqual("vector<boost::shared_ptr<T>>",
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args_list[1].ctype.to_cpp(True))
|
||||
|
||||
def test_default_arguments(self):
|
||||
"""Tests any expression that is a valid default argument"""
|
||||
args = ArgumentList.rule.parseString(
|
||||
"string s=\"hello\", int a=3, "
|
||||
"int b, double pi = 3.1415, "
|
||||
"gtsam::KeyFormatter kf = gtsam::DefaultKeyFormatter, "
|
||||
"std::vector<size_t> p = std::vector<size_t>(), "
|
||||
"std::vector<size_t> l = (1, 2, 'name', \"random\", 3.1415)"
|
||||
)[0].args_list
|
||||
|
||||
# Test for basic types
|
||||
self.assertEqual(args[0].default, "hello")
|
||||
self.assertEqual(args[1].default, 3)
|
||||
# '' is falsy so we can check against it
|
||||
self.assertEqual(args[2].default, '')
|
||||
self.assertFalse(args[2].default)
|
||||
|
||||
self.assertEqual(args[3].default, 3.1415)
|
||||
|
||||
# Test non-basic type
|
||||
self.assertEqual(repr(args[4].default.typename), 'gtsam::DefaultKeyFormatter')
|
||||
# Test templated type
|
||||
self.assertEqual(repr(args[5].default.typename), 'std::vector<size_t>')
|
||||
# Test for allowing list as default argument
|
||||
print(args)
|
||||
self.assertEqual(args[6].default, (1, 2, 'name', "random", 3.1415))
|
||||
|
||||
def test_return_type(self):
|
||||
"""Test ReturnType"""
|
||||
# Test void
|
||||
|
|
@ -490,6 +517,5 @@ class TestInterfaceParser(unittest.TestCase):
|
|||
self.assertEqual(["two", "two_dummy", "two"],
|
||||
[x.name for x in module.content[0].content])
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
unittest.main()
|
||||
|
|
|
|||
Loading…
Reference in New Issue