574 lines
23 KiB
C++
574 lines
23 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 Class.cpp
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* @author Frank Dellaert
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* @author Andrew Melim
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* @author Richard Roberts
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**/
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#include "Class.h"
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#include "utilities.h"
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#include "Argument.h"
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#include <boost/foreach.hpp>
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#include <boost/lexical_cast.hpp>
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#include <vector>
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#include <iostream>
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#include <fstream>
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//#include <cstdint> // on Linux GCC: fails with error regarding needing C++0x std flags
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//#include <cinttypes> // same failure as above
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#include <stdint.h> // works on Linux GCC
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using namespace std;
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using namespace wrap;
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/* ************************************************************************* */
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void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
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const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile,
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vector<string>& functionNames) const {
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// Create namespace folders
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createNamespaceStructure(namespaces, toolboxPath);
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// open destination classFile
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string classFile = matlabName(toolboxPath);
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FileWriter proxyFile(classFile, verbose_, "%");
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// get the name of actual matlab object
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const string matlabQualName = qualifiedName(".");
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const string matlabUniqueName = qualifiedName();
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const string cppName = qualifiedName("::");
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const string matlabBaseName = qualifiedParent.qualifiedName(".");
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const string cppBaseName = qualifiedParent.qualifiedName("::");
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// emit class proxy code
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// we want our class to inherit the handle class for memory purposes
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const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName;
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comment_fragment(proxyFile);
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proxyFile.oss << "classdef " << name << " < " << parent << endl;
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proxyFile.oss << " properties\n";
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proxyFile.oss << " ptr_" << matlabUniqueName << " = 0\n";
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proxyFile.oss << " end\n";
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proxyFile.oss << " methods\n";
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// Constructor
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proxyFile.oss << " function obj = " << name << "(varargin)\n";
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// Special pointer constructors - one in MATLAB to create an object and
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// assign a pointer returned from a C++ function. In turn this MATLAB
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// constructor calls a special C++ function that just adds the object to
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// its collector. This allows wrapped functions to return objects in
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// other wrap modules - to add these to their collectors the pointer is
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// passed from one C++ module into matlab then back into the other C++
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// module.
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pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName,
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functionNames);
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wrapperFile.oss << "\n";
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// Regular constructors
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BOOST_FOREACH(ArgumentList a, constructor.args_list) {
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const int id = (int) functionNames.size();
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constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(),
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id, a);
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const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile,
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cppName, matlabUniqueName, cppBaseName, id, a);
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wrapperFile.oss << "\n";
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functionNames.push_back(wrapFunctionName);
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}
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proxyFile.oss << " else\n";
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proxyFile.oss << " error('Arguments do not match any overload of "
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<< matlabQualName << " constructor');\n";
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proxyFile.oss << " end\n";
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if (!qualifiedParent.empty())
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proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64("
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<< ptr_constructor_key << "), base_ptr);\n";
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proxyFile.oss << " obj.ptr_" << matlabUniqueName << " = my_ptr;\n";
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proxyFile.oss << " end\n\n";
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// Deconstructor
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{
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const int id = (int) functionNames.size();
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deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id);
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proxyFile.oss << "\n";
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const string functionName = deconstructor.wrapper_fragment(wrapperFile,
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cppName, matlabUniqueName, id);
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wrapperFile.oss << "\n";
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functionNames.push_back(functionName);
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}
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proxyFile.oss
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<< " function display(obj), obj.print(''); end\n %DISPLAY Calls print on the object\n";
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proxyFile.oss
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<< " function disp(obj), obj.display; end\n %DISP Calls print on the object\n";
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// Methods
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BOOST_FOREACH(const Methods::value_type& name_m, methods) {
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const Method& m = name_m.second;
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m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName,
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matlabUniqueName, wrapperName, typeAttributes, functionNames);
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proxyFile.oss << "\n";
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wrapperFile.oss << "\n";
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}
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if (hasSerialization)
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serialization_fragments(proxyFile, wrapperFile, wrapperName, functionNames);
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proxyFile.oss << " end\n";
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proxyFile.oss << "\n";
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proxyFile.oss << " methods(Static = true)\n";
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// Static methods
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BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
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const StaticMethod& m = name_m.second;
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m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName,
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matlabUniqueName, wrapperName, typeAttributes, functionNames);
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proxyFile.oss << "\n";
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wrapperFile.oss << "\n";
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}
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if (hasSerialization)
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deserialization_fragments(proxyFile, wrapperFile, wrapperName,
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functionNames);
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proxyFile.oss << " end\n";
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proxyFile.oss << "end\n";
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// Close file
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proxyFile.emit(true);
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}
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/* ************************************************************************* */
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void Class::pointer_constructor_fragments(FileWriter& proxyFile,
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FileWriter& wrapperFile, const string& wrapperName,
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vector<string>& functionNames) const {
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const string matlabUniqueName = qualifiedName();
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const string cppName = qualifiedName("::");
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const string baseCppName = qualifiedParent.qualifiedName("::");
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const int collectorInsertId = (int) functionNames.size();
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const string collectorInsertFunctionName = matlabUniqueName
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+ "_collectorInsertAndMakeBase_"
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+ boost::lexical_cast<string>(collectorInsertId);
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functionNames.push_back(collectorInsertFunctionName);
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int upcastFromVoidId;
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string upcastFromVoidFunctionName;
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if (isVirtual) {
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upcastFromVoidId = (int) functionNames.size();
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upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_"
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+ boost::lexical_cast<string>(upcastFromVoidId);
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functionNames.push_back(upcastFromVoidFunctionName);
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}
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// MATLAB constructor that assigns pointer to matlab object then calls c++
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// function to add the object to the collector.
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if (isVirtual) {
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proxyFile.oss
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<< " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))";
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} else {
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proxyFile.oss << " if nargin == 2";
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}
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proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64("
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<< ptr_constructor_key << ")\n";
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if (isVirtual) {
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proxyFile.oss << " if nargin == 2\n";
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proxyFile.oss << " my_ptr = varargin{2};\n";
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proxyFile.oss << " else\n";
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proxyFile.oss << " my_ptr = " << wrapperName << "("
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<< upcastFromVoidId << ", varargin{2});\n";
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proxyFile.oss << " end\n";
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} else {
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proxyFile.oss << " my_ptr = varargin{2};\n";
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}
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if (qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back
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proxyFile.oss << " ";
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else
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proxyFile.oss << " base_ptr = ";
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proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr
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// C++ function to add pointer from MATLAB to collector. The pointer always
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// comes from a C++ return value; this mechanism allows the object to be added
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// to a collector in a different wrap module. If this class has a base class,
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// a new pointer to the base class is allocated and returned.
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wrapperFile.oss << "void " << collectorInsertFunctionName
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<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
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wrapperFile.oss << "{\n";
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wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n";
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// Typedef boost::shared_ptr
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wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n";
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wrapperFile.oss << "\n";
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// Get self pointer passed in
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wrapperFile.oss
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<< " Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));\n";
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// Add to collector
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wrapperFile.oss << " collector_" << matlabUniqueName << ".insert(self);\n";
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// If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
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if (!qualifiedParent.empty()) {
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wrapperFile.oss << "\n";
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wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName
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<< "> SharedBase;\n";
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wrapperFile.oss
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<< " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
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wrapperFile.oss
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<< " *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);\n";
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}
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wrapperFile.oss << "}\n";
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// If this is a virtual function, C++ function to dynamic upcast it from a
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// shared_ptr<void>. This mechanism allows automatic dynamic creation of the
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// real underlying derived-most class when a C++ method returns a virtual
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// base class.
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if (isVirtual)
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wrapperFile.oss << "\n"
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"void " << upcastFromVoidFunctionName
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<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n"
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" mexAtExit(&_deleteAllObjects);\n"
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" typedef boost::shared_ptr<" << cppName
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<< "> Shared;\n"
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" boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));\n"
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" out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"
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" Shared *self = new Shared(boost::static_pointer_cast<" << cppName
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<< ">(*asVoid));\n"
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" *reinterpret_cast<Shared**>(mxGetData(out[0])) = self;\n"
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"}\n";
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}
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/* ************************************************************************* */
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static vector<ArgumentList> expandArgumentListsTemplate(
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const vector<ArgumentList>& argLists, const string& templateArg,
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const Qualified& qualifiedType, const Qualified& expandedClass) {
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vector<ArgumentList> result;
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BOOST_FOREACH(const ArgumentList& argList, argLists) {
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ArgumentList instArgList;
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BOOST_FOREACH(const Argument& arg, argList) {
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Argument instArg = arg;
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if (arg.type.name == templateArg) {
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instArg.type = qualifiedType;
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} else if (arg.type.name == "This") {
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instArg.type = expandedClass;
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}
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instArgList.push_back(instArg);
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}
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result.push_back(instArgList);
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}
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return result;
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}
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/* ************************************************************************* */
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template<class METHOD>
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map<string, METHOD> expandMethodTemplate(const map<string, METHOD>& methods,
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const string& templateArg, const Qualified& qualifiedType,
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const Qualified& expandedClass) {
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map<string, METHOD> result;
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typedef pair<const string, METHOD> Name_Method;
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BOOST_FOREACH(const Name_Method& name_method, methods) {
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const METHOD& method = name_method.second;
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METHOD instMethod = method;
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instMethod.argLists = expandArgumentListsTemplate(method.argLists,
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templateArg, qualifiedType, expandedClass);
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instMethod.returnVals.clear();
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BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) {
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ReturnValue instRetVal = retVal;
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if (retVal.type1.name == templateArg) {
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instRetVal.type1.rename(qualifiedType);
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} else if (retVal.type1.name == "This") {
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instRetVal.type1.rename(expandedClass);
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}
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if (retVal.type2.name == templateArg) {
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instRetVal.type2.rename(qualifiedType);
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} else if (retVal.type2.name == "This") {
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instRetVal.type2.rename(expandedClass);
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}
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instMethod.returnVals.push_back(instRetVal);
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}
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result.insert(make_pair(name_method.first, instMethod));
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}
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return result;
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}
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/* ************************************************************************* */
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Class Class::expandTemplate(const string& templateArg,
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const Qualified& instName, const Qualified& expandedClass) const {
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Class inst = *this;
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inst.methods = expandMethodTemplate(methods, templateArg, instName,
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expandedClass);
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inst.static_methods = expandMethodTemplate(static_methods, templateArg,
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instName, expandedClass);
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inst.constructor.args_list = expandArgumentListsTemplate(
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constructor.args_list, templateArg, instName, expandedClass);
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inst.constructor.name = inst.name;
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inst.deconstructor.name = inst.name;
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return inst;
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}
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/* ************************************************************************* */
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vector<Class> Class::expandTemplate(const string& templateArg,
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const vector<Qualified>& instantiations) const {
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vector<Class> result;
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BOOST_FOREACH(const Qualified& instName, instantiations) {
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Qualified expandedClass = (Qualified) (*this);
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expandedClass.name += instName.name;
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Class inst = expandTemplate(templateArg, instName, expandedClass);
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inst.name = expandedClass.name;
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inst.templateArgs.clear();
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inst.typedefName = qualifiedName("::") + "<" + instName.qualifiedName("::")
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+ ">";
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result.push_back(inst);
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}
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return result;
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}
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/* ************************************************************************* */
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string Class::getTypedef() const {
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string result;
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BOOST_FOREACH(const string& namesp, namespaces) {
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result += ("namespace " + namesp + " { ");
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}
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result += ("typedef " + typedefName + " " + name + ";");
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for (size_t i = 0; i < namespaces.size(); ++i) {
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result += " }";
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}
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return result;
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}
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/* ************************************************************************* */
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void Class::comment_fragment(FileWriter& proxyFile) const {
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proxyFile.oss << "%class " << name << ", see Doxygen page for details\n";
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proxyFile.oss
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<< "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
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if (!constructor.args_list.empty())
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proxyFile.oss << "%\n%-------Constructors-------\n";
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BOOST_FOREACH(ArgumentList argList, constructor.args_list) {
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proxyFile.oss << "%";
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argList.emit_prototype(proxyFile, name);
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proxyFile.oss << "\n";
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}
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if (!methods.empty())
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proxyFile.oss << "%\n%-------Methods-------\n";
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BOOST_FOREACH(const Methods::value_type& name_m, methods) {
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const Method& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists) {
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proxyFile.oss << "%";
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argList.emit_prototype(proxyFile, m.name);
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proxyFile.oss << " : returns " << m.returnVals[0].return_type(false)
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<< endl;
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}
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}
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if (!static_methods.empty())
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proxyFile.oss << "%\n%-------Static Methods-------\n";
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BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
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const StaticMethod& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists) {
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proxyFile.oss << "%";
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argList.emit_prototype(proxyFile, m.name);
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proxyFile.oss << " : returns " << m.returnVals[0].return_type(false)
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<< endl;
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}
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}
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if (hasSerialization) {
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proxyFile.oss << "%\n%-------Serialization Interface-------\n";
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proxyFile.oss << "%string_serialize() : returns string\n";
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proxyFile.oss << "%string_deserialize(string serialized) : returns "
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<< this->name << "\n";
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}
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proxyFile.oss << "%\n";
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}
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/* ************************************************************************* */
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void Class::serialization_fragments(FileWriter& proxyFile,
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FileWriter& wrapperFile, const string& wrapperName,
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vector<string>& functionNames) const {
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//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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//{
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// typedef boost::shared_ptr<Point3> Shared;
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// checkArguments("string_serialize",nargout,nargin-1,0);
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// Shared obj = unwrap_shared_ptr<Point3>(in[0], "ptr_Point3");
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// ostringstream out_archive_stream;
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// boost::archive::text_oarchive out_archive(out_archive_stream);
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// out_archive << *obj;
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// out[0] = wrap< string >(out_archive_stream.str());
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//}
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int serialize_id = functionNames.size();
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const string matlabQualName = qualifiedName(".");
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const string matlabUniqueName = qualifiedName();
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const string cppClassName = qualifiedName("::");
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const string wrapFunctionNameSerialize = matlabUniqueName
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+ "_string_serialize_" + boost::lexical_cast<string>(serialize_id);
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functionNames.push_back(wrapFunctionNameSerialize);
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// call
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//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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wrapperFile.oss << "void " << wrapFunctionNameSerialize
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<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
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wrapperFile.oss << "{\n";
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wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName
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<< "> Shared;" << endl;
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// check arguments - for serialize, no arguments
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// example: checkArguments("string_serialize",nargout,nargin-1,0);
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wrapperFile.oss
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<< " checkArguments(\"string_serialize\",nargout,nargin-1,0);\n";
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// get class pointer
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// example: Shared obj = unwrap_shared_ptr<Point3>(in[0], "ptr_Point3");
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wrapperFile.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName
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<< ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
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// Serialization boilerplate
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wrapperFile.oss << " ostringstream out_archive_stream;\n";
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wrapperFile.oss
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<< " boost::archive::text_oarchive out_archive(out_archive_stream);\n";
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wrapperFile.oss << " out_archive << *obj;\n";
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wrapperFile.oss << " out[0] = wrap< string >(out_archive_stream.str());\n";
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// finish
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wrapperFile.oss << "}\n";
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// Generate code for matlab function
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// function varargout string_serialize(this, varargin)
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// % STRING_SERIALIZE usage: string_serialize() : returns string
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// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
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// if length(varargin) == 0
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// varargout{1} = geometry_wrapper(15, this, varargin{:});
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// else
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// error('Arguments do not match any overload of function Point3.string_serialize');
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// end
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// end
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proxyFile.oss
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<< " function varargout = string_serialize(this, varargin)\n";
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proxyFile.oss
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<< " % STRING_SERIALIZE usage: string_serialize() : returns string\n";
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proxyFile.oss
|
|
<< " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
|
|
proxyFile.oss << " if length(varargin) == 0\n";
|
|
proxyFile.oss << " varargout{1} = " << wrapperName << "("
|
|
<< boost::lexical_cast<string>(serialize_id) << ", this, varargin{:});\n";
|
|
proxyFile.oss << " else\n";
|
|
proxyFile.oss
|
|
<< " error('Arguments do not match any overload of function "
|
|
<< matlabQualName << ".string_serialize');\n";
|
|
proxyFile.oss << " end\n";
|
|
proxyFile.oss << " end\n\n";
|
|
|
|
// Generate code for matlab save function
|
|
// function sobj = saveobj(obj)
|
|
// % SAVEOBJ Saves the object to a matlab-readable format
|
|
// sobj = obj.string_serialize();
|
|
// end
|
|
|
|
proxyFile.oss << " function sobj = saveobj(obj)\n";
|
|
proxyFile.oss
|
|
<< " % SAVEOBJ Saves the object to a matlab-readable format\n";
|
|
proxyFile.oss << " sobj = obj.string_serialize();\n";
|
|
proxyFile.oss << " end\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Class::deserialization_fragments(FileWriter& proxyFile,
|
|
FileWriter& wrapperFile, const string& wrapperName,
|
|
vector<string>& functionNames) const {
|
|
//void Point3_string_deserialize_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
//{
|
|
// typedef boost::shared_ptr<Point3> Shared;
|
|
// checkArguments("Point3.string_deserialize",nargout,nargin,1);
|
|
// string serialized = unwrap< string >(in[0]);
|
|
// istringstream in_archive_stream(serialized);
|
|
// boost::archive::text_iarchive in_archive(in_archive_stream);
|
|
// Shared output(new Point3());
|
|
// in_archive >> *output;
|
|
// out[0] = wrap_shared_ptr(output,"Point3", false);
|
|
//}
|
|
int deserialize_id = functionNames.size();
|
|
const string matlabQualName = qualifiedName(".");
|
|
const string matlabUniqueName = qualifiedName();
|
|
const string cppClassName = qualifiedName("::");
|
|
const string wrapFunctionNameDeserialize = matlabUniqueName
|
|
+ "_string_deserialize_" + boost::lexical_cast<string>(deserialize_id);
|
|
functionNames.push_back(wrapFunctionNameDeserialize);
|
|
|
|
// call
|
|
wrapperFile.oss << "void " << wrapFunctionNameDeserialize
|
|
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
|
wrapperFile.oss << "{\n";
|
|
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName
|
|
<< "> Shared;" << endl;
|
|
|
|
// check arguments - for deserialize, 1 string argument
|
|
wrapperFile.oss << " checkArguments(\"" << matlabUniqueName
|
|
<< ".string_deserialize\",nargout,nargin,1);\n";
|
|
|
|
// string argument with deserialization boilerplate
|
|
wrapperFile.oss << " string serialized = unwrap< string >(in[0]);\n";
|
|
wrapperFile.oss << " istringstream in_archive_stream(serialized);\n";
|
|
wrapperFile.oss
|
|
<< " boost::archive::text_iarchive in_archive(in_archive_stream);\n";
|
|
wrapperFile.oss << " Shared output(new " << cppClassName << "());\n";
|
|
wrapperFile.oss << " in_archive >> *output;\n";
|
|
wrapperFile.oss << " out[0] = wrap_shared_ptr(output,\"" << matlabQualName
|
|
<< "\", false);\n";
|
|
wrapperFile.oss << "}\n";
|
|
|
|
// Generate matlab function
|
|
// function varargout = string_deserialize(varargin)
|
|
// % STRING_DESERIALIZE usage: string_deserialize() : returns Point3
|
|
// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
|
|
// if length(varargin) == 1
|
|
// varargout{1} = geometry_wrapper(18, varargin{:});
|
|
// else
|
|
// error('Arguments do not match any overload of function Point3.string_deserialize');
|
|
// end
|
|
// end
|
|
|
|
proxyFile.oss << " function varargout = string_deserialize(varargin)\n";
|
|
proxyFile.oss
|
|
<< " % STRING_DESERIALIZE usage: string_deserialize() : returns "
|
|
<< matlabQualName << "\n";
|
|
proxyFile.oss
|
|
<< " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
|
|
proxyFile.oss << " if length(varargin) == 1\n";
|
|
proxyFile.oss << " varargout{1} = " << wrapperName << "("
|
|
<< boost::lexical_cast<string>(deserialize_id) << ", varargin{:});\n";
|
|
proxyFile.oss << " else\n";
|
|
proxyFile.oss
|
|
<< " error('Arguments do not match any overload of function "
|
|
<< matlabQualName << ".string_deserialize');\n";
|
|
proxyFile.oss << " end\n";
|
|
proxyFile.oss << " end\n\n";
|
|
|
|
// Generate matlab load function
|
|
// function obj = loadobj(sobj)
|
|
// % LOADOBJ Saves the object to a matlab-readable format
|
|
// obj = Point3.string_deserialize(sobj);
|
|
// end
|
|
|
|
proxyFile.oss << " function obj = loadobj(sobj)\n";
|
|
proxyFile.oss
|
|
<< " % LOADOBJ Saves the object to a matlab-readable format\n";
|
|
proxyFile.oss << " obj = " << matlabQualName
|
|
<< ".string_deserialize(sobj);\n";
|
|
proxyFile.oss << " end" << endl;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
string Class::getSerializationExport() const {
|
|
//BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsamSharedDiagonal");
|
|
return "BOOST_CLASS_EXPORT_GUID(" + qualifiedName("::") + ", \""
|
|
+ qualifiedName() + "\");";
|
|
}
|
|
/* ************************************************************************* */
|