337 lines
15 KiB
Python
Executable File
337 lines
15 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Code generator for wrapping a C++ module with Pybind11
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Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar and Frank Dellaert
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"""
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import re
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import textwrap
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import gtwrap.interface_parser as parser
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import gtwrap.template_instantiator as instantiator
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class PybindWrapper(object):
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def __init__(self,
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module,
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module_name,
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top_module_namespaces='',
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use_boost=False,
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ignore_classes=[],
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module_template=""):
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self.module = module
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self.module_name = module_name
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self.top_module_namespaces = top_module_namespaces
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self.use_boost = use_boost
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self.ignore_classes = ignore_classes
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self._serializing_classes = list()
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self.module_template = module_template
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self.python_keywords = ['print', 'lambda']
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def _py_args_names(self, args_list):
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names = args_list.args_names()
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if names:
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py_args = ['py::arg("{}")'.format(name) for name in names]
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return ", " + ", ".join(py_args)
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else:
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return ''
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def _method_args_signature_with_names(self, args_list):
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cpp_types = args_list.to_cpp(self.use_boost)
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names = args_list.args_names()
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types_names = ["{} {}".format(ctype, name) for ctype, name in zip(cpp_types, names)]
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return ','.join(types_names)
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def wrap_ctors(self, my_class):
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res = ""
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for ctor in my_class.ctors:
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res += ('\n' + ' ' * 8 + '.def(py::init<{args_cpp_types}>()'
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'{py_args_names})'.format(
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args_cpp_types=", ".join(ctor.args.to_cpp(self.use_boost)),
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py_args_names=self._py_args_names(ctor.args),
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))
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return res
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def _wrap_method(self, method, cpp_class, prefix, suffix, method_suffix=""):
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py_method = method.name + method_suffix
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cpp_method = method.to_cpp()
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if cpp_method in ["serialize", "serializable"]:
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if not cpp_class in self._serializing_classes:
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self._serializing_classes.append(cpp_class)
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return textwrap.dedent('''
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.def("serialize",
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[]({class_inst} self){{
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return gtsam::serialize(*self);
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}}
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)
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.def("deserialize",
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[]({class_inst} self, string serialized){{
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gtsam::deserialize(serialized, *self);
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}}, py::arg("serialized"))
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'''.format(class_inst=cpp_class + '*'))
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if cpp_method == "pickle":
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if not cpp_class in self._serializing_classes:
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raise ValueError("Cannot pickle a class which is not serializable")
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return textwrap.dedent('''
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.def(py::pickle(
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[](const {cpp_class} &a){{ // __getstate__
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/* Returns a string that encodes the state of the object */
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return py::make_tuple(gtsam::serialize(a));
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}},
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[](py::tuple t){{ // __setstate__
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{cpp_class} obj;
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gtsam::deserialize(t[0].cast<std::string>(), obj);
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return obj;
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}}))
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'''.format(cpp_class=cpp_class))
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is_method = isinstance(method, instantiator.InstantiatedMethod)
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is_static = isinstance(method, parser.StaticMethod)
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return_void = method.return_type.is_void()
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args_names = method.args.args_names()
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py_args_names = self._py_args_names(method.args)
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args_signature_with_names = self._method_args_signature_with_names(method.args)
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caller = cpp_class + "::" if not is_method else "self->"
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function_call = ('{opt_return} {caller}{function_name}'
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'({args_names});'.format(
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opt_return='return' if not return_void else '',
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caller=caller,
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function_name=cpp_method,
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args_names=', '.join(args_names),
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))
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ret = ('{prefix}.{cdef}("{py_method}",'
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'[]({opt_self}{opt_comma}{args_signature_with_names}){{'
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'{function_call}'
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'}}'
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'{py_args_names}){suffix}'.format(
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prefix=prefix,
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cdef="def_static" if is_static else "def",
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py_method=py_method if not py_method in self.python_keywords else py_method + "_",
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opt_self="{cpp_class}* self".format(cpp_class=cpp_class) if is_method else "",
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cpp_class=cpp_class,
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cpp_method=cpp_method,
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opt_comma=',' if is_method and args_names else '',
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args_signature_with_names=args_signature_with_names,
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function_call=function_call,
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py_args_names=py_args_names,
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suffix=suffix,
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))
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if method.name == 'print':
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type_list = method.args.to_cpp(self.use_boost)
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if len(type_list) > 0 and type_list[0].strip() == 'string':
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class} &a) {{
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gtsam::RedirectCout redirect;
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a.print("");
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return redirect.str();
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}}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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suffix=suffix,
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)
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else:
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ret += '''{prefix}.def("__repr__",
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[](const {cpp_class} &a) {{
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gtsam::RedirectCout redirect;
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a.print();
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return redirect.str();
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}}){suffix}'''.format(
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prefix=prefix,
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cpp_class=cpp_class,
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suffix=suffix,
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)
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return ret
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def wrap_methods(self, methods, cpp_class, prefix='\n' + ' ' * 8, suffix=''):
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res = ""
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for method in methods:
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# To avoid type confusion for insert, currently unused
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if method.name == 'insert' and cpp_class == 'gtsam::Values':
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name_list = method.args.args_names()
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type_list = method.args.to_cpp(self.use_boost)
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if type_list[0].strip() == 'size_t': # inserting non-wrapped value types
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method_suffix = '_' + name_list[1].strip()
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res += self._wrap_method(method=method,
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cpp_class=cpp_class,
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prefix=prefix,
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suffix=suffix,
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method_suffix=method_suffix)
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res += self._wrap_method(
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method=method,
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cpp_class=cpp_class,
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prefix=prefix,
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suffix=suffix,
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)
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return res
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def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8):
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res = ""
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for prop in properties:
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res += ('{prefix}.def_{property}("{property_name}", '
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'&{cpp_class}::{property_name})'.format(
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prefix=prefix,
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property="readonly" if prop.ctype.is_const else "readwrite",
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cpp_class=cpp_class,
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property_name=prop.name,
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))
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return res
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def wrap_instantiated_class(self, instantiated_class):
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module_var = self._gen_module_var(instantiated_class.namespaces())
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cpp_class = instantiated_class.cpp_class()
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if cpp_class in self.ignore_classes:
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return ""
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return ('\n py::class_<{cpp_class}, {class_parent}'
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'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
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'{wrapped_ctors}'
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'{wrapped_methods}'
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'{wrapped_static_methods}'
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'{wrapped_properties};\n'.format(
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shared_ptr_type=('boost' if self.use_boost else 'std'),
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cpp_class=cpp_class,
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class_name=instantiated_class.name,
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class_parent=str(instantiated_class.parent_class) +
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(', ' if instantiated_class.parent_class else ''),
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module_var=module_var,
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wrapped_ctors=self.wrap_ctors(instantiated_class),
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wrapped_methods=self.wrap_methods(instantiated_class.methods, cpp_class),
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wrapped_static_methods=self.wrap_methods(instantiated_class.static_methods, cpp_class),
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wrapped_properties=self.wrap_properties(instantiated_class.properties, cpp_class),
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))
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def wrap_stl_class(self, stl_class):
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module_var = self._gen_module_var(stl_class.namespaces())
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cpp_class = stl_class.cpp_class()
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if cpp_class in self.ignore_classes:
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return ""
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return ('\n py::class_<{cpp_class}, {class_parent}'
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'{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
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'{wrapped_ctors}'
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'{wrapped_methods}'
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'{wrapped_static_methods}'
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'{wrapped_properties};\n'.format(
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shared_ptr_type=('boost' if self.use_boost else 'std'),
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cpp_class=cpp_class,
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class_name=stl_class.name,
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class_parent=str(stl_class.parent_class) + (', ' if stl_class.parent_class else ''),
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module_var=module_var,
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wrapped_ctors=self.wrap_ctors(stl_class),
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wrapped_methods=self.wrap_methods(stl_class.methods, cpp_class),
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wrapped_static_methods=self.wrap_methods(stl_class.static_methods, cpp_class),
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wrapped_properties=self.wrap_properties(stl_class.properties, cpp_class),
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))
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def _partial_match(self, namespaces1, namespaces2):
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for i in range(min(len(namespaces1), len(namespaces2))):
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if namespaces1[i] != namespaces2[i]:
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return False
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return True
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def _gen_module_var(self, namespaces):
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sub_module_namespaces = namespaces[len(self.top_module_namespaces):]
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return "m_{}".format('_'.join(sub_module_namespaces))
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def _add_namespaces(self, name, namespaces):
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if namespaces:
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# Ignore the first empty global namespace.
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idx = 1 if not namespaces[0] else 0
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return '::'.join(namespaces[idx:] + [name])
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else:
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return name
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def wrap_namespace(self, namespace):
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wrapped = ""
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includes = ""
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namespaces = namespace.full_namespaces()
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if not self._partial_match(namespaces, self.top_module_namespaces):
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return "", ""
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if len(namespaces) < len(self.top_module_namespaces):
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for element in namespace.content:
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if isinstance(element, parser.Include):
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includes += ("{}\n".format(element).replace('<', '"').replace('>', '"'))
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if isinstance(element, parser.Namespace):
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(
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wrapped_namespace,
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includes_namespace,
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) = self.wrap_namespace( # noqa
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element)
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wrapped += wrapped_namespace
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includes += includes_namespace
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else:
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module_var = self._gen_module_var(namespaces)
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if len(namespaces) > len(self.top_module_namespaces):
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wrapped += (' ' * 4 + 'pybind11::module {module_var} = '
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'{parent_module_var}.def_submodule("{namespace}", "'
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'{namespace} submodule");\n'.format(
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module_var=module_var,
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namespace=namespace.name,
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parent_module_var=self._gen_module_var(namespaces[:-1]),
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))
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for element in namespace.content:
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if isinstance(element, parser.Include):
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includes += ("{}\n".format(element).replace('<', '"').replace('>', '"'))
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elif isinstance(element, parser.Namespace):
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(
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wrapped_namespace,
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includes_namespace,
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) = self.wrap_namespace( # noqa
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element)
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wrapped += wrapped_namespace
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includes += includes_namespace
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elif isinstance(element, instantiator.InstantiatedClass):
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wrapped += self.wrap_instantiated_class(element)
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# Global functions.
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all_funcs = [func for func in namespace.content if isinstance(func, parser.GlobalFunction)]
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wrapped += self.wrap_methods(
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all_funcs,
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self._add_namespaces('', namespaces)[:-2],
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prefix='\n' + ' ' * 4 + module_var,
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suffix=';',
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)
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return wrapped, includes
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def wrap(self):
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wrapped_namespace, includes = self.wrap_namespace(self.module)
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# Export classes for serialization.
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boost_class_export = ""
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for cpp_class in self._serializing_classes:
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new_name = cpp_class
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# The boost's macro doesn't like commas, so we have to typedef.
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if ',' in cpp_class:
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new_name = re.sub("[,:<> ]", "", cpp_class)
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boost_class_export += "typedef {cpp_class} {new_name};\n".format( # noqa
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cpp_class=cpp_class,
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new_name=new_name,
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)
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boost_class_export += "BOOST_CLASS_EXPORT({new_name})\n".format(new_name=new_name, )
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return self.module_template.format(
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include_boost="#include <boost/shared_ptr.hpp>" if self.use_boost else "",
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module_name=self.module_name,
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includes=includes,
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hoder_type=
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"PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, {shared_ptr_type}::shared_ptr<TYPE_PLACEHOLDER_DONOTUSE>);"
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.format(shared_ptr_type=('boost' if self.use_boost else 'std')) if self.use_boost else "",
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wrapped_namespace=wrapped_namespace,
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boost_class_export=boost_class_export,
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)
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