494 lines
20 KiB
C++
494 lines
20 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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* @author Alex Cunningham
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* @author Andrew Melim
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* @author Richard Roberts
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**/
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#include "Module.h"
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#include "FileWriter.h"
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#include "TypeAttributesTable.h"
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#include "utilities.h"
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#include <boost/foreach.hpp>
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#include <boost/filesystem.hpp>
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#include <boost/lexical_cast.hpp>
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#include <iostream>
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#include <algorithm>
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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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namespace bl = boost::lambda;
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namespace fs = boost::filesystem;
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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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/* ************************************************************************* */
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// If a number of template arguments were given, generate a number of expanded
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// class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
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static void handle_possible_template(vector<Class>& classes, const Class& cls,
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const vector<Qualified>& instantiations) {
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if (cls.templateArgs.empty() || instantiations.empty()) {
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classes.push_back(cls);
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} else {
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if (cls.templateArgs.size() != 1)
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throw std::runtime_error(
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"In-line template instantiations only handle a single template argument");
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vector<Class> classInstantiations = //
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cls.expandTemplate(cls.templateArgs.front(), instantiations);
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BOOST_FOREACH(const Class& c, classInstantiations)
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classes.push_back(c);
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}
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}
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/* ************************************************************************* */
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Module::Module(const std::string& moduleName, bool enable_verbose)
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: name(moduleName), verbose(enable_verbose)
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{
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}
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/* ************************************************************************* */
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Module::Module(const string& interfacePath,
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const string& moduleName, bool enable_verbose)
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: name(moduleName), verbose(enable_verbose)
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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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// execute parsing
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parseMarkup(contents);
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}
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/* ************************************************************************* */
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void Module::parseMarkup(const std::string& data) {
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// The parse imperatively :-( updates variables gradually during parse
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// The one with postfix 0 are used to reset the variables after parse.
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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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// 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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// ----------------------------------------------------------------------------
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// Define Rule and instantiate basic rules
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typedef rule<phrase_scanner_t> Rule;
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BasicRules<phrase_scanner_t> basic;
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vector<string> namespaces; // current namespace tag
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// parse a full class
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Class cls0(verbose),cls(verbose);
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Template classTemplate;
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ClassGrammar class_g(cls,classTemplate);
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Rule class_p = class_g //
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[assign_a(cls.namespaces_, namespaces)]
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[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls),
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bl::var(classTemplate.argValues()))]
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[clear_a(classTemplate)] //
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[assign_a(cls,cls0)];
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// parse "gtsam::Pose2" and add to singleInstantiation.typeList
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TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
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TypeListGrammar<'<','>'> typelist_g(singleInstantiation.typeList);
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// typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
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TypeGrammar instantiationClass_g(singleInstantiation.class_);
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Rule templateSingleInstantiation_p =
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(str_p("typedef") >> instantiationClass_g >>
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typelist_g >>
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basic.className_p[assign_a(singleInstantiation.name_)] >>
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';')
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[assign_a(singleInstantiation.namespaces_, namespaces)]
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[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
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[assign_a(singleInstantiation, singleInstantiation0)];
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// NOTE: allows for pointers to all types
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ArgumentList args;
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ArgumentListGrammar argumentList_g(args);
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vector<string> namespaces_return; /// namespace for current return type
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Rule namespace_ret_p = basic.namespace_p[push_back_a(namespaces_return)] >> str_p("::");
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ReturnValue retVal0, retVal;
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ReturnValueGrammar returnValue_g(retVal);
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Rule globalFunctionName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
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// parse a global function
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Qualified globalFunction;
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Rule global_function_p =
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(returnValue_g >> globalFunctionName_p[assign_a(globalFunction.name_)] >>
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argumentList_g >> ';' >> *basic.comments_p)
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[assign_a(globalFunction.namespaces_,namespaces)]
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[bl::bind(&GlobalFunction::addOverload,
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bl::var(global_functions)[bl::var(globalFunction.name_)],
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bl::var(globalFunction), bl::var(args), bl::var(retVal), boost::none,verbose)]
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[assign_a(retVal,retVal0)]
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[clear_a(globalFunction)]
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[clear_a(args)];
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Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>');
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#ifdef __clang__
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wuninitialized"
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#endif
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Rule namespace_def_p =
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(str_p("namespace")
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>> basic.namespace_p[push_back_a(namespaces)]
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>> ch_p('{')
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>> *(include_p | class_p | templateSingleInstantiation_p | global_function_p | namespace_def_p | basic.comments_p)
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>> ch_p('}'))
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[pop_a(namespaces)];
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#ifdef __clang__
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#pragma clang diagnostic pop
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#endif
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// parse forward declaration
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ForwardDeclaration fwDec0, fwDec;
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Rule forward_declaration_p =
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!(str_p("virtual")[assign_a(fwDec.isVirtual, true)])
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>> str_p("class")
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>> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)]
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>> ch_p(';')
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[push_back_a(forward_declarations, fwDec)]
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[assign_a(fwDec, fwDec0)];
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Rule module_content_p = basic.comments_p | include_p | class_p
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| templateSingleInstantiation_p | forward_declaration_p
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| global_function_p | namespace_def_p;
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Rule module_p = *module_content_p >> !end_p;
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// and parse contents
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parse_info<const char*> info = parse(data.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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cout << "Stopped in:\n"
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"class '" << cls.name_ << "'" << endl;
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throw ParseFailed((int)info.length);
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}
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// Post-process classes for serialization markers
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BOOST_FOREACH(Class& cls, classes)
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cls.erase_serialization();
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// Explicitly add methods to the classes from parents so it shows in documentation
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BOOST_FOREACH(Class& cls, classes)
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cls.appendInheritedMethods(cls, classes);
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// Expand templates - This is done first so that template instantiations are
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// counted in the list of valid types, have their attributes and dependencies
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// checked, etc.
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expandedClasses = ExpandTypedefInstantiations(classes,
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templateInstantiationTypedefs);
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// Dependency check list
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vector<string> validTypes = GenerateValidTypes(expandedClasses,
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forward_declarations);
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// Check that all classes have been defined somewhere
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verifyArguments<GlobalFunction>(validTypes, global_functions);
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verifyReturnTypes<GlobalFunction>(validTypes, global_functions);
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hasSerialiable = false;
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BOOST_FOREACH(const Class& cls, expandedClasses)
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cls.verifyAll(validTypes,hasSerialiable);
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// Create type attributes table and check validity
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typeAttributes.addClasses(expandedClasses);
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typeAttributes.addForwardDeclarations(forward_declarations);
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// add Eigen types as template arguments are also checked ?
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vector<ForwardDeclaration> eigen;
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eigen.push_back(ForwardDeclaration("Vector"));
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eigen.push_back(ForwardDeclaration("Matrix"));
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typeAttributes.addForwardDeclarations(eigen);
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typeAttributes.checkValidity(expandedClasses);
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}
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/* ************************************************************************* */
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void Module::matlab_code(const string& toolboxPath) const {
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fs::create_directories(toolboxPath);
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// create the unified .cpp switch file
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const string wrapperName = name + "_wrapper";
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string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
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FileWriter wrapperFile(wrapperFileName, verbose, "//");
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wrapperFile.oss << "#include <wrap/matlab.h>\n";
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wrapperFile.oss << "#include <map>\n";
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wrapperFile.oss << "#include <boost/foreach.hpp>\n";
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wrapperFile.oss << "\n";
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// Include boost.serialization archive headers before other class headers
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if (hasSerialiable) {
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wrapperFile.oss << "#include <boost/serialization/export.hpp>\n";
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wrapperFile.oss << "#include <boost/archive/text_iarchive.hpp>\n";
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wrapperFile.oss << "#include <boost/archive/text_oarchive.hpp>\n\n";
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}
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// Generate includes while avoiding redundant includes
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generateIncludes(wrapperFile);
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// create typedef classes - we put this at the top of the wrap file so that
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// collectors and method arguments can use these typedefs
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BOOST_FOREACH(const Class& cls, expandedClasses)
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if(!cls.typedefName.empty())
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wrapperFile.oss << cls.getTypedef() << "\n";
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wrapperFile.oss << "\n";
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// Generate boost.serialization export flags (needs typedefs from above)
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if (hasSerialiable) {
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BOOST_FOREACH(const Class& cls, expandedClasses)
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if(cls.isSerializable)
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wrapperFile.oss << cls.getSerializationExport() << "\n";
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wrapperFile.oss << "\n";
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}
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// Generate collectors and cleanup function to be called from mexAtExit
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WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses);
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// generate RTTI registry (for returning derived-most types)
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WriteRTTIRegistry(wrapperFile, name, expandedClasses);
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vector<string> functionNames; // Function names stored by index for switch
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// create proxy class and wrapper code
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BOOST_FOREACH(const Class& cls, expandedClasses)
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cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
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// create matlab files and wrapper code for global functions
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BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions)
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p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
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// finish wrapper file
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wrapperFile.oss << "\n";
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finish_wrapper(wrapperFile, functionNames);
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wrapperFile.emit(true);
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}
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/* ************************************************************************* */
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void Module::generateIncludes(FileWriter& file) const {
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// collect includes
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vector<string> all_includes(includes);
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// sort and remove duplicates
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sort(all_includes.begin(), all_includes.end());
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vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
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vector<string>::const_iterator it = all_includes.begin();
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// add includes to file
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for (; it != last_include; ++it)
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file.oss << "#include <" << *it << ">" << endl;
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file.oss << "\n";
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}
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/* ************************************************************************* */
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void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
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file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
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file.oss << "{\n";
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file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
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file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
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file.oss << " _" << name << "_RTTIRegister();\n\n";
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file.oss << " int id = unwrap<int>(in[0]);\n\n";
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file.oss << " try {\n";
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file.oss << " switch(id) {\n";
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for(size_t id = 0; id < functionNames.size(); ++id) {
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file.oss << " case " << id << ":\n";
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file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
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file.oss << " break;\n";
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}
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file.oss << " }\n";
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file.oss << " } catch(const std::exception& e) {\n";
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file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n";
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file.oss << " }\n";
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file.oss << "\n";
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file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
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file.oss << "}\n";
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}
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/* ************************************************************************* */
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vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
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vector<Class> expandedClasses = classes;
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BOOST_FOREACH(const TemplateInstantiationTypedef& inst, instantiations) {
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// Add the new class to the list
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expandedClasses.push_back(inst.findAndExpand(classes));
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}
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// Remove all template classes
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for(size_t i = 0; i < expandedClasses.size(); ++i)
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if(!expandedClasses[size_t(i)].templateArgs.empty()) {
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expandedClasses.erase(expandedClasses.begin() + size_t(i));
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-- i;
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}
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return expandedClasses;
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}
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/* ************************************************************************* */
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vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration> forwardDeclarations) {
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vector<string> validTypes;
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BOOST_FOREACH(const ForwardDeclaration& fwDec, forwardDeclarations) {
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validTypes.push_back(fwDec.name);
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}
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validTypes.push_back("void");
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validTypes.push_back("string");
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validTypes.push_back("int");
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validTypes.push_back("bool");
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validTypes.push_back("char");
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validTypes.push_back("unsigned char");
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validTypes.push_back("size_t");
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validTypes.push_back("double");
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validTypes.push_back("Vector");
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validTypes.push_back("Matrix");
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//Create a list of parsed classes for dependency checking
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BOOST_FOREACH(const Class& cls, classes) {
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validTypes.push_back(cls.qualifiedName("::"));
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}
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return validTypes;
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}
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/* ************************************************************************* */
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void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
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// Generate all collectors
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BOOST_FOREACH(const Class& cls, classes) {
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const string matlabUniqueName = cls.qualifiedName(),
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cppName = cls.qualifiedName("::");
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wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
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<< "Collector_" << matlabUniqueName << ";\n";
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wrapperFile.oss << "static Collector_" << matlabUniqueName <<
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" collector_" << matlabUniqueName << ";\n";
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}
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// generate mexAtExit cleanup function
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wrapperFile.oss <<
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"\nvoid _deleteAllObjects()\n"
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"{\n"
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" mstream mout;\n" // Send stdout to MATLAB console
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" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
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" bool anyDeleted = false;\n";
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BOOST_FOREACH(const Class& cls, classes) {
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const string matlabUniqueName = cls.qualifiedName();
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const string cppName = cls.qualifiedName("::");
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const string collectorType = "Collector_" + matlabUniqueName;
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const string collectorName = "collector_" + matlabUniqueName;
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// The extra curly-braces around the for loops work around a limitation in MSVC (existing
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// since 2005!) preventing more than 248 blocks.
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wrapperFile.oss <<
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" { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
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" iter != " << collectorName << ".end(); ) {\n"
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" delete *iter;\n"
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" " << collectorName << ".erase(iter++);\n"
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" anyDeleted = true;\n"
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" } }\n";
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}
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wrapperFile.oss <<
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" if(anyDeleted)\n"
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" cout <<\n"
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" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
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" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
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" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
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" std::cout.rdbuf(outbuf);\n" // Restore cout
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"}\n\n";
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}
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/* ************************************************************************* */
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void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
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wrapperFile.oss <<
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"void _" << moduleName << "_RTTIRegister() {\n"
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" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
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" if(!alreadyCreated) {\n"
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" std::map<std::string, std::string> types;\n";
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BOOST_FOREACH(const Class& cls, classes) {
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if(cls.isVirtual)
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wrapperFile.oss <<
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" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
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}
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wrapperFile.oss << "\n";
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wrapperFile.oss <<
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" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
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" if(!registry)\n"
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" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
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" typedef std::pair<std::string, std::string> StringPair;\n"
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" BOOST_FOREACH(const StringPair& rtti_matlab, types) {\n"
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" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
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" if(fieldId < 0)\n"
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" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
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" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
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" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
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" }\n"
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" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
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" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
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" mxDestroyArray(registry);\n"
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" \n"
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" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
|
|
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
|
|
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
|
" mxDestroyArray(newAlreadyCreated);\n"
|
|
" }\n"
|
|
"}\n"
|
|
"\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Module::python_wrapper(const string& toolboxPath) const {
|
|
|
|
fs::create_directories(toolboxPath);
|
|
|
|
// create the unified .cpp switch file
|
|
const string wrapperName = name + "_python";
|
|
string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
|
|
FileWriter wrapperFile(wrapperFileName, verbose, "//");
|
|
wrapperFile.oss << "#include <boost/python.hpp>\n\n";
|
|
wrapperFile.oss << "using namespace boost::python;\n";
|
|
wrapperFile.oss << "BOOST_PYTHON_MODULE(" + name + ")\n";
|
|
wrapperFile.oss << "{\n";
|
|
|
|
// write out classes
|
|
BOOST_FOREACH(const Class& cls, expandedClasses)
|
|
cls.python_wrapper(wrapperFile);
|
|
|
|
// write out global functions
|
|
BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions)
|
|
p.second.python_wrapper(wrapperFile);
|
|
|
|
// finish wrapper file
|
|
wrapperFile.oss << "}\n";
|
|
|
|
wrapperFile.emit(true);
|
|
}
|
|
|
|
/* ************************************************************************* */
|