gtsam/wrap/Constructor.cpp

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

/**
 * @file Constructor.ccp
 * @author Frank Dellaert
 * @author Andrew Melim
 * @author Richard Roberts
 **/

#include <iostream>
#include <fstream>
#include <algorithm>

#include <boost/lexical_cast.hpp>

#include "utilities.h"
#include "Constructor.h"
#include "Class.h"

using namespace std;
using namespace wrap;

/* ************************************************************************* */
string Constructor::matlab_wrapper_name(Str className) const {
  string str = "new_" + className;
  return str;
}

/* ************************************************************************* */
void Constructor::proxy_fragment(FileWriter& file,
    const std::string& wrapperName, bool hasParent, const int id,
    const ArgumentList args) const {
  size_t nrArgs = args.size();
  // check for number of arguments...
  file.oss << "      elseif nargin == " << nrArgs;
  if (nrArgs > 0)
    file.oss << " && ";
  // ...and their types
  bool first = true;
  for (size_t i = 0; i < nrArgs; i++) {
    if (!first)
      file.oss << " && ";
    file.oss << "isa(varargin{" << i + 1 << "},'" << args[i].matlabClass(".")
        << "')";
    first = false;
  }
  // emit code for calling constructor
  if (hasParent)
    file.oss << "\n        [ my_ptr, base_ptr ] = ";
  else
    file.oss << "\n        my_ptr = ";
  file.oss << wrapperName << "(" << id;
  // emit constructor arguments
  for (size_t i = 0; i < nrArgs; i++) {
    file.oss << ", ";
    file.oss << "varargin{" << i + 1 << "}";
  }
  file.oss << ");\n";
}

/* ************************************************************************* */
string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
    Str matlabUniqueName, boost::optional<string> cppBaseClassName, int id,
    const ArgumentList& al) const {

  const string wrapFunctionName = matlabUniqueName + "_constructor_"
      + boost::lexical_cast<string>(id);

  file.oss << "void " << wrapFunctionName
      << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])"
      << endl;
  file.oss << "{\n";
  file.oss << "  mexAtExit(&_deleteAllObjects);\n";
  //Typedef boost::shared_ptr
  file.oss << "  typedef boost::shared_ptr<" << cppClassName << "> Shared;\n";
  file.oss << "\n";

  //Check to see if there will be any arguments and remove {} for consiseness
  if (al.size() > 0)
    al.matlab_unwrap(file); // unwrap arguments
  file.oss << "  Shared *self = new Shared(new " << cppClassName << "("
      << al.names() << "));" << endl;
  file.oss << "  collector_" << matlabUniqueName << ".insert(self);\n";

  if (verbose_)
    file.oss << "  std::cout << \"constructed \" << self << std::endl;" << endl;
  file.oss
      << "  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);"
      << endl;
  file.oss << "  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;"
      << endl;

  // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
  if (cppBaseClassName) {
    file.oss << "\n";
    file.oss << "  typedef boost::shared_ptr<" << *cppBaseClassName
        << "> SharedBase;\n";
    file.oss
        << "  out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
    file.oss
        << "  *reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);\n";
  }

  file.oss << "}" << endl;

  return wrapFunctionName;
}

/* ************************************************************************* */
void Constructor::python_wrapper(FileWriter& wrapperFile, Str className) const {
  wrapperFile.oss << "  .def(\"" << name_ << "\", &" << className << "::" << name_
      << ");\n";
}

/* ************************************************************************* */
bool Constructor::hasDefaultConstructor() const {
  for (size_t i = 0; i < nrOverloads(); i++) {
    if (argumentList(i).size() == 0) return true;
  }  
  return false;
}

/* ************************************************************************* */
void Constructor::emit_cython_pxd(FileWriter& pxdFile, Str className) const {
  // HACK HACK: always add the default copy constructor by default
  pxdFile.oss << "\t\t" << className << "(const " << className
              << "&) except +\n";

  for (size_t i = 0; i < nrOverloads(); i++) {
    ArgumentList args = argumentList(i);
    // ignore copy constructor, it's generated above by default
    if (args.size() == 1 && args[0].is_const && args[0].is_ref &&
        !args[0].is_ptr && (args[0].type.cythonClass() == className ||
                            args[0].type.cythonClass() == "This"))
            continue;

    // generate the constructor
    pxdFile.oss << "\t\t" << className << "(";
    args.emit_cython_pxd(pxdFile, className);
    pxdFile.oss << ") " << "except +\n";
  }
}

/* ************************************************************************* */
void Constructor::emit_cython_pyx(FileWriter& pyxFile, const Class& cls) const {
  // FIXME: handle overloads properly! This is lazy...
  for (size_t i = 0; i < nrOverloads(); i++) {
    ArgumentList args = argumentList(i);
    pyxFile.oss << "\t@staticmethod\n";
    pyxFile.oss << "\tdef __Create" 
                << ((i > 0) ? to_string(i) : "") << "__(";
    args.emit_cython_pyx(pyxFile);
    pyxFile.oss << "): \n";

    // Don't use cyCreateFromValue because the class might not have 
    // copy constructor and copy assignment operator!!
    // For example: noiseModel::Robust doesn't have the copy assignment operator
    // because its members are shared_ptr to abstract base classes. That fails
    // Cython to generate the object as it assigns the new obj to a temp variable.
    pyxFile.oss << "\t\treturn " << cls.cythonClass() 
                << ".cyCreateFromShared(" << cls.pyxSharedCythonClass() 
                << "(new " << cls.pyxCythonClass() << "(";
    args.emit_cython_pyx_asParams(pyxFile);
    pyxFile.oss << "))"
                << ")\n";
  }
}

/* ************************************************************************* */