Merging 'master' into 'wrap'

wrap/DOCS.md

@@ -91,6 +91,13 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
         ```cpp
         template<T, R, S>
         ```
+- Global variables
+    - Similar to global functions, the wrapper supports global variables as well.
+    - Currently we only support primitive types, such as `double`, `int`, `string`, etc.
+    - E.g.
+        ```cpp
+        const double kGravity = -9.81;
+        ```
 
 - Using classes defined in other modules
     - If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error. `OtherClass` should be in the same project.

wrap/gtwrap/interface_parser/classes.py

@@ -19,6 +19,7 @@ from .template import Template
 from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, RBRACE,
                      RPAREN, SEMI_COLON, STATIC, VIRTUAL, OPERATOR)
 from .type import TemplatedType, Type, Typename
+from .variable import Variable
 
 
 class Method:
@@ -136,32 +137,6 @@ class Constructor:
         return "Constructor: {}".format(self.name)
 
 
-class Property:
-    """
-    Rule to parse the variable members of a class.
-
-    E.g.
-    ```
-    class Hello {
-        string name;  // This is a property.
-    };
-    ````
-    """
-    rule = (
-        (Type.rule ^ TemplatedType.rule)("ctype")  #
-        + IDENT("name")  #
-        + SEMI_COLON  #
-    ).setParseAction(lambda t: Property(t.ctype, t.name))
-
-    def __init__(self, ctype: Type, name: str, parent=''):
-        self.ctype = ctype[0]  # ParseResult is a list
-        self.name = name
-        self.parent = parent
-
-    def __repr__(self) -> str:
-        return '{} {}'.format(self.ctype.__repr__(), self.name)
-
-
 class Operator:
     """
     Rule for parsing operator overloads.
@@ -256,12 +231,12 @@ class Class:
         Rule for all the members within a class.
         """
         rule = ZeroOrMore(Constructor.rule ^ StaticMethod.rule ^ Method.rule
-                          ^ Property.rule ^ Operator.rule).setParseAction(
+                          ^ Variable.rule ^ Operator.rule).setParseAction(
                               lambda t: Class.Members(t.asList()))
 
         def __init__(self,
                      members: List[Union[Constructor, Method, StaticMethod,
-                                         Property, Operator]]):
+                                         Variable, Operator]]):
             self.ctors = []
             self.methods = []
             self.static_methods = []
@@ -274,7 +249,7 @@ class Class:
                     self.methods.append(m)
                 elif isinstance(m, StaticMethod):
                     self.static_methods.append(m)
-                elif isinstance(m, Property):
+                elif isinstance(m, Variable):
                     self.properties.append(m)
                 elif isinstance(m, Operator):
                     self.operators.append(m)
@@ -311,7 +286,7 @@ class Class:
         ctors: List[Constructor],
         methods: List[Method],
         static_methods: List[StaticMethod],
-        properties: List[Property],
+        properties: List[Variable],
         operators: List[Operator],
         parent: str = '',
     ):

wrap/gtwrap/interface_parser/module.py

@@ -23,6 +23,7 @@ from .declaration import ForwardDeclaration, Include
 from .function import GlobalFunction
 from .namespace import Namespace
 from .template import TypedefTemplateInstantiation
+from .variable import Variable
 
 
 class Module:
@@ -43,6 +44,7 @@ class Module:
                    ^ Class.rule  #
                    ^ TypedefTemplateInstantiation.rule  #
                    ^ GlobalFunction.rule  #
+                   ^ Variable.rule #
                    ^ Namespace.rule  #
                    ).setParseAction(lambda t: Namespace('', t.asList())) +
         stringEnd)

wrap/gtwrap/interface_parser/namespace.py

@@ -22,6 +22,7 @@ from .function import GlobalFunction
 from .template import TypedefTemplateInstantiation
 from .tokens import IDENT, LBRACE, NAMESPACE, RBRACE
 from .type import Typename
+from .variable import Variable
 
 
 def find_sub_namespace(namespace: "Namespace",
@@ -67,6 +68,7 @@ class Namespace:
             ^ Class.rule  #
             ^ TypedefTemplateInstantiation.rule  #
             ^ GlobalFunction.rule  #
+            ^ Variable.rule #
             ^ rule  #
         )("content")  # BR
         + RBRACE  #

wrap/gtwrap/interface_parser/variable.py

@@ -0,0 +1,53 @@
+"""
+GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Parser classes and rules for parsing C++ variables.
+
+Author: Varun Agrawal, Gerry Chen
+"""
+
+from pyparsing import Optional, ParseResults
+
+from .tokens import DEFAULT_ARG, EQUAL, IDENT, SEMI_COLON, STATIC
+from .type import TemplatedType, Type
+
+
+class Variable:
+    """
+    Rule to parse variables.
+    Variables are a combination of Type/TemplatedType and the variable identifier.
+
+    E.g.
+    ```
+    class Hello {
+        string name;  // This is a property variable.
+    };
+
+    Vector3 kGravity;  // This is a global variable.
+    ````
+    """
+    rule = ((Type.rule ^ TemplatedType.rule)("ctype")  #
+            + IDENT("name")  #
+            #TODO(Varun) Add support for non-basic types
+            + Optional(EQUAL + (DEFAULT_ARG))("default")  #
+            + SEMI_COLON  #
+            ).setParseAction(lambda t: Variable(t.ctype, t.name, t.default))
+
+    def __init__(self,
+                 ctype: Type,
+                 name: str,
+                 default: ParseResults = None,
+                 parent=''):
+        self.ctype = ctype[0]  # ParseResult is a list
+        self.name = name
+        if default:
+            self.default = default[0]
+
+        self.parent = parent
+
+    def __repr__(self) -> str:
+        return '{} {}'.format(self.ctype.__repr__(), self.name)

wrap/gtwrap/pybind_wrapper.py

@@ -186,6 +186,16 @@ class PybindWrapper:
 
         return res
 
+    def wrap_variable(self, module, module_var, variable, prefix='\n' + ' ' * 8):
+        """Wrap a variable that's not part of a class (i.e. global)
+        """
+        return '{prefix}{module_var}.attr("{variable_name}") = {module}{variable_name};'.format(
+            prefix=prefix,
+            module=module,
+            module_var=module_var,
+            variable_name=variable.name
+        )
+
     def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8):
         """Wrap all the properties in the `cpp_class`."""
         res = ""
@@ -341,6 +351,13 @@ class PybindWrapper:
                     includes += includes_namespace
                 elif isinstance(element, instantiator.InstantiatedClass):
                     wrapped += self.wrap_instantiated_class(element)
+                elif isinstance(element, parser.Variable):
+                    wrapped += self.wrap_variable(
+                        module=self._add_namespaces('', namespaces),
+                        module_var=module_var,
+                        variable=element,
+                        prefix='\n' + ' ' * 4
+                    )
 
             # Global functions.
             all_funcs = [

wrap/tests/expected/python/namespaces_pybind.cpp

@@ -50,12 +50,14 @@ PYBIND11_MODULE(namespaces_py, m_) {
     py::class_<ns2::ClassC, std::shared_ptr<ns2::ClassC>>(m_ns2, "ClassC")
         .def(py::init<>());
 
+    m_ns2.attr("aNs2Var") = ns2::aNs2Var;
     m_ns2.def("aGlobalFunction",[](){return ns2::aGlobalFunction();});
     m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a){return ns2::overloadedGlobalFunction(a);}, py::arg("a"));
     m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a, double b){return ns2::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b"));
     py::class_<ClassD, std::shared_ptr<ClassD>>(m_, "ClassD")
         .def(py::init<>());
 
+    m_.attr("aGlobalVar") = aGlobalVar;
 
 #include "python/specializations.h"
 

wrap/tests/fixtures/namespaces.i

@@ -17,7 +17,7 @@ class ClassB {
 // check namespace handling
 Vector aGlobalFunction();
 
-}
+}  // namespace ns1
 
 #include <path/to/ns2.h>
 namespace ns2 {
@@ -38,7 +38,7 @@ class ClassB {
   ClassB();
 };
 
-}
+}  // namespace ns3
 
 class ClassC {
   ClassC();
@@ -51,10 +51,12 @@ Vector aGlobalFunction();
 ns1::ClassA overloadedGlobalFunction(const ns1::ClassA& a);
 ns1::ClassA overloadedGlobalFunction(const ns1::ClassA& a, double b);
 
-} //\namespace ns2
+int aNs2Var;
+
+}  // namespace ns2
 
 class ClassD {
   ClassD();
 };
 
-
+int aGlobalVar;

wrap/tests/test_interface_parser.py

@@ -18,12 +18,10 @@ import unittest
 
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
-from gtwrap.interface_parser import (ArgumentList, Class, Constructor,
+from gtwrap.interface_parser import (
-                                     ForwardDeclaration, GlobalFunction,
+    ArgumentList, Class, Constructor, ForwardDeclaration, GlobalFunction,
-                                     Include, Method, Module, Namespace,
+    Include, Method, Module, Namespace, Operator, ReturnType, StaticMethod,
-                                     Operator, ReturnType, StaticMethod,
+    TemplatedType, Type, TypedefTemplateInstantiation, Typename, Variable)
-                                     TemplatedType, Type,
-                                     TypedefTemplateInstantiation, Typename)
 
 
 class TestInterfaceParser(unittest.TestCase):
@@ -199,7 +197,8 @@ class TestInterfaceParser(unittest.TestCase):
         self.assertEqual(args[3].default, 3.1415)
 
         # Test non-basic type
-        self.assertEqual(repr(args[4].default.typename), 'gtsam::DefaultKeyFormatter')
+        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
@@ -422,7 +421,8 @@ class TestInterfaceParser(unittest.TestCase):
         self.assertEqual("BetweenFactor", ret.parent_class.name)
         self.assertEqual(["gtsam"], ret.parent_class.namespaces)
         self.assertEqual("Pose3", ret.parent_class.instantiations[0].name)
-        self.assertEqual(["gtsam"], ret.parent_class.instantiations[0].namespaces)
+        self.assertEqual(["gtsam"],
+                         ret.parent_class.instantiations[0].namespaces)
 
     def test_include(self):
         """Test for include statements."""
@@ -449,6 +449,23 @@ class TestInterfaceParser(unittest.TestCase):
         self.assertEqual("Values", func.return_type.type1.typename.name)
         self.assertEqual(3, len(func.args))
 
+    def test_global_variable(self):
+        """Test for global variable."""
+        variable = Variable.rule.parseString("string kGravity;")[0]
+        self.assertEqual(variable.name, "kGravity")
+        self.assertEqual(variable.ctype.typename.name, "string")
+
+        variable = Variable.rule.parseString("string kGravity = 9.81;")[0]
+        self.assertEqual(variable.name, "kGravity")
+        self.assertEqual(variable.ctype.typename.name, "string")
+        self.assertEqual(variable.default, 9.81)
+
+        variable = Variable.rule.parseString("const string kGravity = 9.81;")[0]
+        self.assertEqual(variable.name, "kGravity")
+        self.assertEqual(variable.ctype.typename.name, "string")
+        self.assertTrue(variable.ctype.is_const)
+        self.assertEqual(variable.default, 9.81)
+
     def test_namespace(self):
         """Test for namespace parsing."""
         namespace = Namespace.rule.parseString("""
@@ -505,17 +522,21 @@ class TestInterfaceParser(unittest.TestCase):
 
                 };
             }
+            int oneVar;
         }
 
         class Global{
         };
+        int globalVar;
         """)
 
         # print("module: ", module)
         # print(dir(module.content[0].name))
-        self.assertEqual(["one", "Global"], [x.name for x in module.content])
+        self.assertEqual(["one", "Global", "globalVar"],
-        self.assertEqual(["two", "two_dummy", "two"],
+                         [x.name for x in module.content])
+        self.assertEqual(["two", "two_dummy", "two", "oneVar"],
                          [x.name for x in module.content[0].content])
 
+
 if __name__ == '__main__':
     unittest.main()