324 lines
12 KiB
C++
324 lines
12 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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#include "pop_actor.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 enable_verbose) : name(moduleName), verbose(enable_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(enable_verbose), constructor(enable_verbose);
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Method method0(enable_verbose), method(enable_verbose);
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StaticMethod static_method0(enable_verbose), static_method(enable_verbose);
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Class cls0(enable_verbose),cls(enable_verbose);
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vector<string> namespaces, namespaces_parent, namespaces_temp;
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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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// ----------------------------------------------------------------------------
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Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_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 basisType_p =
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(str_p("string") | "bool" | "size_t" | "int" | "double");
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Rule eigenType_p =
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(str_p("Vector") | "Matrix");
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Rule className_p = lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - basisType_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 argEigenType_p =
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eigenType_p[assign_a(arg.type)] >>
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!ch_p('*')[assign_a(arg.is_ptr,true)];
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Rule eigenRef_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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eigenType_p [assign_a(arg.type)] >>
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ch_p('&') [assign_a(arg.is_ref,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)] | argEigenType_p | classRef_p | eigenRef_p | classPtr_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(constructor.name,cls.name)]
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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.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) |
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((className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >>
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!ch_p('*')[assign_a(retVal.isPtr1,true)]) |
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(eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]);
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Rule returnType2_p =
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(basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) |
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((className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >>
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!ch_p('*') [assign_a(retVal.isPtr2,true)]) |
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(eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]);
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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.isPair,true)];
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Rule void_p = str_p("void")[assign_a(retVal.type1)];
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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 | lower_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 functions_p = constructor_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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*(functions_p | comments_p) >>
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str_p("};"))[assign_a(cls.namespaces, namespaces)][push_back_a(classes,cls)][assign_a(cls,cls0)];
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Rule namespace_name_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
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Rule namespace_p = str_p("namespace") >>
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namespace_name_p[push_back_a(namespaces)]
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>> ch_p('{') >>
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*(class_p | namespace_p | comments_p) >>
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str_p("}///\\namespace") >> !namespace_name_p // end namespace, avoid confusion with classes
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[pop_a(namespaces)];
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Rule module_content_p = comments_p | class_p | namespace_p ;
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Rule module_p = *module_content_p >> !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 = 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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template<class T>
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void verifyArguments(const vector<string>& validArgs, const vector<T>& vt) {
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BOOST_FOREACH(const T& t, vt) {
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BOOST_FOREACH(Argument arg, t.args) {
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if(std::find(validArgs.begin(), validArgs.end(), arg.type)
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== validArgs.end())
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throw DependencyMissing(arg.type, t.name);
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}
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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& mexExt,
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const string& mexFlags)
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{
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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 matlabMakeFile = toolboxPath + "/make_" + name + ".m";
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ofstream ofs(matlabMakeFile.c_str());
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if(!ofs) throw CantOpenFile(matlabMakeFile);
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// create the (actual) make file
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string makeFile = toolboxPath + "/Makefile";
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ofstream make_ofs(makeFile.c_str());
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if(!make_ofs) throw CantOpenFile(makeFile);
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if (verbose) cerr << "generating " << matlabMakeFile << endl;
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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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if (verbose) cerr << "generating " << makeFile << endl;
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emit_header_comment(make_ofs,"#");
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make_ofs << "\nMEX = mex\n";
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make_ofs << "MEXENDING = " << mexExt << "\n";
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make_ofs << "mex_flags = " << mexFlags << "\n\n";
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//Dependency check list
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std::vector<string> validArgs;
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validArgs.push_back("string");
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validArgs.push_back("int");
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validArgs.push_back("bool");
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validArgs.push_back("size_t");
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validArgs.push_back("double");
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validArgs.push_back("Vector");
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validArgs.push_back("Matrix");
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// add 'all' to Makefile
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make_ofs << "all: ";
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BOOST_FOREACH(Class cls, classes) {
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make_ofs << cls.qualifiedName() << " ";
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//Create a list of parsed classes for dependency checking
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validArgs.push_back(cls.name);
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}
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make_ofs << "\n\n";
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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.qualifiedName();
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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.qualifiedName() + ".m";
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cls.matlab_proxy(classFile);
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// verify all of the function arguments
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verifyArguments<Constructor>(validArgs, cls.constructors);
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verifyArguments<StaticMethod>(validArgs, cls.static_methods);
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verifyArguments<Method>(validArgs, cls.methods);
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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.qualifiedName() << endl;
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ofs << "cd(toolboxpath)" << endl;
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cls.matlab_make_fragment(ofs, toolboxPath, mexFlags);
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// add section to the (actual) make file
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make_ofs << "# " << cls.qualifiedName() << endl;
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cls.makefile_fragment(make_ofs);
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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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// make clean at end of Makefile
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make_ofs << "\n\nclean: \n";
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make_ofs << "\trm -rf *.$(MEXENDING)\n";
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BOOST_FOREACH(Class cls, classes)
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make_ofs << "\trm -rf @" << cls.qualifiedName() << "/*.$(MEXENDING)\n";
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// finish Makefile
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make_ofs << "\n" << endl;
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make_ofs.close();
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}
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/* ************************************************************************* */
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