257 lines
8.9 KiB
C++
257 lines
8.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Module.ccp
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* @author Frank Dellaert
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**/
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#include "Module.h"
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#include "utilities.h"
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//#define BOOST_SPIRIT_DEBUG
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#include <boost/spirit/include/classic_core.hpp>
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#include <boost/spirit/include/classic_confix.hpp>
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#include <boost/foreach.hpp>
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#include <iostream>
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#include <fstream>
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using namespace std;
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using namespace wrap;
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using namespace BOOST_SPIRIT_CLASSIC_NS;
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typedef rule<BOOST_SPIRIT_CLASSIC_NS::phrase_scanner_t> Rule;
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/* ************************************************************************* */
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// We parse an interface file into a Module object.
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// The grammar is defined using the boost/spirit combinatorial parser.
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// For example, str_p("const") parses the string "const", and the >>
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// operator creates a sequence parser. The grammar below, composed of rules
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// and with start rule [class_p], doubles as the specs for our interface files.
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/* ************************************************************************* */
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Module::Module(const string& interfacePath,
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const string& moduleName, bool verbose) : name(moduleName), verbose_(verbose)
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{
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// these variables will be imperatively updated to gradually build [cls]
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// The one with postfix 0 are used to reset the variables after parse.
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ReturnValue retVal0, retVal;
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Argument arg0, arg;
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ArgumentList args0, args;
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Constructor constructor0(verbose), constructor(verbose);
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Method method0(verbose), method(verbose);
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StaticMethod static_method0(verbose), static_method(verbose);
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Class cls0(verbose),cls(verbose);
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//----------------------------------------------------------------------------
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// Grammar with actions that build the Class object. Actions are
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// defined within the square brackets [] and are executed whenever a
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// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
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// The grammar is allows a very restricted C++ header:
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// - No comments allowed.
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// -Only types allowed are string, bool, size_t int, double, Vector, and Matrix
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// as well as class names that start with an uppercase letter
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// - The types unsigned int and bool should be specified as int.
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// ----------------------------------------------------------------------------
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Rule comments_p = comment_p("/*", "*/") | comment_p("//");
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// lexeme_d turns off white space skipping
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// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
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Rule className_p = lexeme_d[upper_p >> *(alnum_p | '_')];
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Rule classPtr_p =
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className_p [assign_a(arg.type)] >>
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ch_p('*') [assign_a(arg.is_ptr,true)];
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Rule classRef_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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className_p [assign_a(arg.type)] >>
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ch_p('&') [assign_a(arg.is_ref,true)];
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Rule basisType_p =
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(str_p("string") | "bool" | "size_t" | "int" | "double");
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Rule eigenType =
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(str_p("Vector") | "Matrix")[assign_a(arg.type)] >>
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!ch_p('*')[assign_a(arg.is_ptr,true)];
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Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
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Rule argument_p =
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((basisType_p[assign_a(arg.type)] | eigenType | classPtr_p | classRef_p) >> name_p[assign_a(arg.name)])
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[push_back_a(args, arg)]
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[assign_a(arg,arg0)];
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Rule argumentList_p = !argument_p >> * (',' >> argument_p);
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Rule constructor_p =
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(className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p)
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[assign_a(constructor.args,args)]
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[assign_a(args,args0)]
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[push_back_a(cls.constructors, constructor)]
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[assign_a(constructor,constructor0)];
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Rule returnType1_p =
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basisType_p[assign_a(retVal.returns_)] |
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((className_p | "Vector" | "Matrix")[assign_a(retVal.returns_)] >>
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!ch_p('*') [assign_a(retVal.returns_ptr_,true)]);
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Rule returnType2_p =
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basisType_p[assign_a(retVal.returns2_)] |
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((className_p | "Vector" | "Matrix")[assign_a(retVal.returns2_)] >>
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!ch_p('*') [assign_a(retVal.returns_ptr2_,true)]);
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Rule pair_p =
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(str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>')
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[assign_a(retVal.returns_pair_,true)];
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Rule void_p = str_p("void")[assign_a(retVal.returns_)];
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Rule returnType_p = void_p | returnType1_p | pair_p;
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Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')];
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Rule method_p =
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(returnType_p >> methodName_p[assign_a(method.name_)] >>
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'(' >> argumentList_p >> ')' >>
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!str_p("const")[assign_a(method.is_const_,true)] >> ';' >> *comments_p)
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[assign_a(method.args_,args)]
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[assign_a(args,args0)]
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[assign_a(method.returnVal_,retVal)]
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[assign_a(retVal,retVal0)]
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[push_back_a(cls.methods, method)]
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[assign_a(method,method0)];
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Rule staticMethodName_p = lexeme_d[upper_p >> *(alnum_p | '_')];
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Rule static_method_p =
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(str_p("static") >> returnType_p >> staticMethodName_p[assign_a(static_method.name_)] >>
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'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
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[assign_a(static_method.args_,args)]
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[assign_a(args,args0)]
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[assign_a(static_method.returnVal_,retVal)]
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[assign_a(retVal,retVal0)]
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[push_back_a(cls.static_methods, static_method)]
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[assign_a(static_method,static_method0)];
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Rule methods_p = method_p | static_method_p;
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Rule class_p = str_p("class") >> className_p[assign_a(cls.name)] >> '{' >>
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*comments_p >>
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*constructor_p >>
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*comments_p >>
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*methods_p >>
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*comments_p >>
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'}' >> ";";
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Rule module_p = *comments_p >> +(class_p
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[push_back_a(classes,cls)]
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[assign_a(cls,cls0)]
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>> *comments_p)
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>> *comments_p
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>> !end_p;
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//----------------------------------------------------------------------------
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// for debugging, define BOOST_SPIRIT_DEBUG
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# ifdef BOOST_SPIRIT_DEBUG
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BOOST_SPIRIT_DEBUG_NODE(className_p);
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BOOST_SPIRIT_DEBUG_NODE(classPtr_p);
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BOOST_SPIRIT_DEBUG_NODE(classRef_p);
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BOOST_SPIRIT_DEBUG_NODE(basisType_p);
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BOOST_SPIRIT_DEBUG_NODE(name_p);
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BOOST_SPIRIT_DEBUG_NODE(argument_p);
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BOOST_SPIRIT_DEBUG_NODE(argumentList_p);
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BOOST_SPIRIT_DEBUG_NODE(constructor_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType1_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType2_p);
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BOOST_SPIRIT_DEBUG_NODE(pair_p);
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BOOST_SPIRIT_DEBUG_NODE(void_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType_p);
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BOOST_SPIRIT_DEBUG_NODE(methodName_p);
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BOOST_SPIRIT_DEBUG_NODE(method_p);
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BOOST_SPIRIT_DEBUG_NODE(class_p);
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BOOST_SPIRIT_DEBUG_NODE(module_p);
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# endif
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//----------------------------------------------------------------------------
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// read interface file
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string interfaceFile = interfacePath + "/" + moduleName + ".h";
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string contents = wrap::file_contents(interfaceFile);
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// and parse contents
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parse_info<const char*> info = parse(contents.c_str(), module_p, space_p);
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if(!info.full) {
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printf("parsing stopped at \n%.20s\n",info.stop);
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throw ParseFailed(info.length);
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}
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}
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/* ************************************************************************* */
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void Module::matlab_code(const string& toolboxPath,
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const string& nameSpace,
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const string& mexFlags)
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{
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try {
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string installCmd = "install -d " + toolboxPath;
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system(installCmd.c_str());
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// create make m-file
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string makeFile = toolboxPath + "/make_" + name + ".m";
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ofstream ofs(makeFile.c_str());
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if(!ofs) throw CantOpenFile(makeFile);
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if (verbose_) cerr << "generating " << makeFile << endl;
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wrap::emit_header_comment(ofs,"%");
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ofs << "echo on" << endl << endl;
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ofs << "toolboxpath = mfilename('fullpath');" << endl;
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ofs << "delims = find(toolboxpath == '/');" << endl;
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ofs << "toolboxpath = toolboxpath(1:(delims(end)-1));" << endl;
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ofs << "clear delims" << endl;
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ofs << "addpath(toolboxpath);" << endl << endl;
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// generate proxy classes and wrappers
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BOOST_FOREACH(Class cls, classes) {
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// create directory if needed
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string classPath = toolboxPath + "/@" + cls.name;
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string installCmd = "install -d " + classPath;
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system(installCmd.c_str());
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// create proxy class
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string classFile = classPath + "/" + cls.name + ".m";
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cls.matlab_proxy(classFile);
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// create constructor and method wrappers
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cls.matlab_constructors(toolboxPath,nameSpace);
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cls.matlab_static_methods(toolboxPath,nameSpace);
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cls.matlab_methods(classPath,nameSpace);
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// add lines to make m-file
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ofs << "%% " << cls.name << endl;
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ofs << "cd(toolboxpath)" << endl;
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cls.matlab_make_fragment(ofs, toolboxPath, mexFlags);
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}
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// finish make m-file
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ofs << "cd(toolboxpath)" << endl << endl;
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ofs << "echo off" << endl;
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ofs.close();
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}
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catch(exception &e) {
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cerr << "generate_matlab_toolbox failed because " << e.what() << endl;
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}
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}
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/* ************************************************************************* */
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