gtsam/wrap/StaticMethod.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 StaticMethod.ccp
 * @author Frank Dellaert
 * @author Andrew Melim
 * @author Richard Roberts
 **/

#include <iostream>
#include <fstream>

#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>

#include "StaticMethod.h"
#include "utilities.h"

using namespace std;
using namespace wrap;

/* ************************************************************************* */
void StaticMethod::addOverload(bool verbose, const std::string& name,
    const ArgumentList& args, const ReturnValue& retVal) {
  this->verbose = verbose;
  this->name = name;
  this->argLists.push_back(args);
  this->returnVals.push_back(retVal);
}

/* ************************************************************************* */
void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile,
    FileWriter& wrapperFile, const string& cppClassName,
    const std::string& matlabQualName, const std::string& matlabUniqueName,
    const string& wrapperName, const TypeAttributesTable& typeAttributes,
    vector<string>& functionNames) const {

  string upperName = name;
  upperName[0] = std::toupper(upperName[0], std::locale());

  proxyFile.oss << "    function varargout = " << upperName << "(varargin)\n";
  //Comments for documentation
  string up_name = boost::to_upper_copy(name);
  proxyFile.oss << "      % " << up_name << " usage:";
  unsigned int argLCount = 0;
  BOOST_FOREACH(ArgumentList argList, argLists) {
    proxyFile.oss << " " << name << "(";
    unsigned int i = 0;
    BOOST_FOREACH(const Argument& arg, argList) {
      if (i != argList.size() - 1)
        proxyFile.oss << arg.type << " " << arg.name << ", ";
      else
        proxyFile.oss << arg.type << " " << arg.name;
      i++;
    }
    if (argLCount != argLists.size() - 1)
      proxyFile.oss << "), ";
    else
      proxyFile.oss << ") : returns "
          << returnVals[0].return_type(false, returnVals[0].pair) << endl;
    argLCount++;
  }

  proxyFile.oss << "      % "
      << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html"
      << endl;
  proxyFile.oss << "      % " << "" << endl;
  proxyFile.oss << "      % " << "Usage" << endl;
  BOOST_FOREACH(ArgumentList argList, argLists) {
    proxyFile.oss << "      % " << up_name << "(";
    unsigned int i = 0;
    BOOST_FOREACH(const Argument& arg, argList) {
      if (i != argList.size() - 1)
        proxyFile.oss << arg.type << " " << arg.name << ", ";
      else
        proxyFile.oss << arg.type << " " << arg.name;
      i++;
    }
    proxyFile.oss << ")" << endl;
  }

  for (size_t overload = 0; overload < argLists.size(); ++overload) {
    const ArgumentList& args = argLists[overload];
    const ReturnValue& returnVal = returnVals[overload];
    size_t nrArgs = args.size();

    const int id = (int) functionNames.size();

    // Output proxy matlab code

    // check for number of arguments...
    proxyFile.oss << "      " << (overload == 0 ? "" : "else")
        << "if length(varargin) == " << nrArgs;
    if (nrArgs > 0)
      proxyFile.oss << " && ";
    // ...and their types
    bool first = true;
    for (size_t i = 0; i < nrArgs; i++) {
      if (!first)
        proxyFile.oss << " && ";
      proxyFile.oss << "isa(varargin{" << i + 1 << "},'"
          << args[i].matlabClass(".") << "')";
      first = false;
    }
    proxyFile.oss << "\n";

    // output call to C++ wrapper
    string output;
    if (returnVal.isPair)
      output = "[ varargout{1} varargout{2} ] = ";
    else if (returnVal.category1 == ReturnValue::VOID)
      output = "";
    else
      output = "varargout{1} = ";
    proxyFile.oss << "        " << output << wrapperName << "(" << id
        << ", varargin{:});\n";

    // Output C++ wrapper code

    const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
        matlabUniqueName, (int) overload, id, typeAttributes);

    // Add to function list
    functionNames.push_back(wrapFunctionName);

  }

  proxyFile.oss << "      else\n";
  proxyFile.oss
      << "        error('Arguments do not match any overload of function "
      << matlabQualName << "." << upperName << "');" << endl;

  proxyFile.oss << "      end\n";
  proxyFile.oss << "    end\n";
}

/* ************************************************************************* */
string StaticMethod::wrapper_fragment(FileWriter& file,
    const string& cppClassName, const string& matlabUniqueName, int overload,
    int id, const TypeAttributesTable& typeAttributes) const {

  // generate code

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

  const ArgumentList& args = argLists[overload];
  const ReturnValue& returnVal = returnVals[overload];

  // call
  file.oss << "void " << wrapFunctionName
      << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
  // start
  file.oss << "{\n";

  returnVal.wrapTypeUnwrap(file);

  file.oss << "  typedef boost::shared_ptr<" << cppClassName << "> Shared;"
      << endl;

  // check arguments
  // NOTE: for static functions, there is no object passed
  file.oss << "  checkArguments(\"" << matlabUniqueName << "." << name
      << "\",nargout,nargin," << args.size() << ");\n";

  // unwrap arguments, see Argument.cpp
  args.matlab_unwrap(file, 0); // We start at 0 because there is no self object

  // call method with default type and wrap result
  if (returnVal.type1 != "void")
    returnVal.wrap_result(cppClassName + "::" + name + "(" + args.names() + ")",
        file, typeAttributes);
  else
    file.oss << cppClassName + "::" + name + "(" + args.names() + ");\n";

  // finish
  file.oss << "}\n";

  return wrapFunctionName;
}

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