From b9880d4257ececaa7fbed9e01cf61f54acf3c80d Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <dta-huynh@irobot.com>
Date: Fri, 9 Sep 2016 07:28:13 -0400
Subject: [PATCH] emit template class to Cython pxd with test

Cython allows template class.
---
 wrap/Module.cpp         | 27 +++++++++++++++++----------
 wrap/Module.h           |  1 +
 wrap/tests/cythontest.h | 10 ++++++++++
 3 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index 70e8176b7..1036ee8ca 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -45,8 +45,10 @@ namespace fs = boost::filesystem;
 /* ************************************************************************* */ 
 // If a number of template arguments were given, generate a number of expanded
 // class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
-static void handle_possible_template(vector<Class>& classes, const Class& cls,
-    const Template& t) {
+static void handle_possible_template(vector<Class>& classes,
+                                     vector<Class>& uninstantiatedClasses,
+                                     const Class& cls, const Template& t) {
+  uninstantiatedClasses.push_back(cls);
   if (cls.templateArgs.empty() || t.empty()) {
     classes.push_back(cls);
   } else {
@@ -106,13 +108,13 @@ void Module::parseMarkup(const std::string& data) {
   Class cls0(verbose),cls(verbose);
   Template classTemplate;
   ClassGrammar class_g(cls,classTemplate);
-  Rule class_p = class_g //
+  Rule class_p = class_g  //
       [assign_a(cls.namespaces_, namespaces)]
-      [assign_a(cls.includeFile, currentInclude)]
-      [bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls),
-          bl::var(classTemplate))]
-          [clear_a(classTemplate)] //
-      [assign_a(cls,cls0)];
+      [assign_a(cls.includeFile, currentInclude)][bl::bind(
+          &handle_possible_template, bl::var(classes),
+          bl::var(uninstantiatedClasses), bl::var(cls),
+          bl::var(classTemplate))][clear_a(classTemplate)]  //
+      [assign_a(cls, cls0)];
 
   // parse "gtsam::Pose2" and add to singleInstantiation.typeList
   TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
@@ -184,6 +186,9 @@ void Module::parseMarkup(const std::string& data) {
   for(Class& cls: classes)
     cls.erase_serialization();
 
+  for(Class& cls: uninstantiatedClasses)
+    cls.erase_serialization();
+
   // Explicitly add methods to the classes from parents so it shows in documentation
   for(Class& cls: classes)
     cls.appendInheritedMethods(cls, classes);
@@ -290,7 +295,7 @@ void Module::cython_code(const string& toolboxPath) const {
   FileWriter pyxFile(pyxFileName, verbose, "#");
 
   // create proxy class and wrapper code
-  for(const Class& cls: expandedClasses)
+  for(const Class& cls: uninstantiatedClasses)
     cls.cython_wrapper(pxdFile, pyxFile);
 
   // finish wrapper file
@@ -483,8 +488,10 @@ void Module::python_wrapper(const string& toolboxPath) const {
   wrapperFile.oss << "{\n";
 
   // write out classes
-  for(const Class& cls: expandedClasses)
+  for(const Class& cls: classes) {
+    cout << "tmpl args:" << cls.templateArgs.size() << endl;
     cls.python_wrapper(wrapperFile);
+  }
 
   // write out global functions
   for(const GlobalFunctions::value_type& p: global_functions)
diff --git a/wrap/Module.h b/wrap/Module.h
index 0a040535e..163860e93 100644
--- a/wrap/Module.h
+++ b/wrap/Module.h
@@ -38,6 +38,7 @@ struct Module {
   std::string name; ///< module name
   bool verbose; ///< verbose flag
   std::vector<Class> classes; ///< list of classes
+  std::vector<Class> uninstantiatedClasses; ///< list of template classes after instantiated
   std::vector<TemplateInstantiationTypedef> templateInstantiationTypedefs; ///< list of template instantiations
   std::vector<ForwardDeclaration> forward_declarations;
   std::vector<std::string> includes; ///< Include statements
diff --git a/wrap/tests/cythontest.h b/wrap/tests/cythontest.h
index 77aa2568c..56835657b 100644
--- a/wrap/tests/cythontest.h
+++ b/wrap/tests/cythontest.h
@@ -320,6 +320,16 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
   void serialize() const;
 };
 
+#include <gtsam/sam/BearingFactor.h>
+template<POSE, POINT, BEARING>
+virtual class BearingFactor : gtsam::NoiseModelFactor {
+  BearingFactor(size_t key1, size_t key2, const BEARING& measured, const gtsam::noiseModel::Base* noiseModel);
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
 
 
 }
\ No newline at end of file