450 lines
18 KiB
C++
450 lines
18 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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**/
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#include "Module.h"
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#include "FileWriter.h"
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#include "utilities.h"
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#include "spirit_actors.h"
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//#define BOOST_SPIRIT_DEBUG
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#include <boost/spirit/include/classic_confix.hpp>
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#include <boost/spirit/include/classic_clear_actor.hpp>
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#include <boost/spirit/include/classic_insert_at_actor.hpp>
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#include <boost/lambda/bind.hpp>
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#include <boost/lambda/lambda.hpp>
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#include <boost/lambda/construct.hpp>
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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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typedef rule<BOOST_SPIRIT_CLASSIC_NS::phrase_scanner_t> Rule;
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/* ************************************************************************* */
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// We parse an interface file into a Module object.
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// The grammar is defined using the boost/spirit combinatorial parser.
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// For example, str_p("const") parses the string "const", and the >>
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// operator creates a sequence parser. The grammar below, composed of rules
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// and with start rule [class_p], doubles as the specs for our interface files.
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/* ************************************************************************* */
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Module::Module(const string& interfacePath,
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const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose)
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{
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// these variables will be imperatively updated to gradually build [cls]
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// The one with postfix 0 are used to reset the variables after parse.
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string methodName, methodName0;
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bool isConst, isConst0 = false;
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ReturnValue retVal0, retVal;
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Argument arg0, arg;
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ArgumentList args0, args;
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vector<string> arg_dup; ///keep track of duplicates
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Constructor constructor0(enable_verbose), constructor(enable_verbose);
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Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose);
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//Method method0(enable_verbose), method(enable_verbose);
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StaticMethod static_method0(enable_verbose), static_method(enable_verbose);
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Class cls0(enable_verbose),cls(enable_verbose);
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ForwardDeclaration fwDec0, fwDec;
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vector<string> namespaces, /// current namespace tag
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namespace_includes, /// current set of includes
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namespaces_return, /// namespace for current return type
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using_namespace_current; /// All namespaces from "using" declarations
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string include_path = "";
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const string null_str = "";
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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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Rule comments_p = comment_p("/*", "*/") | comment_p("//", eol_p);
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Rule basisType_p =
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(str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char");
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Rule keywords_p =
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(str_p("const") | "static" | "namespace" | basisType_p);
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Rule eigenType_p =
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(str_p("Vector") | "Matrix");
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Rule className_p = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p);
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Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p;
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Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::");
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Rule argEigenType_p =
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eigenType_p[assign_a(arg.type)] >>
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!ch_p('*')[assign_a(arg.is_ptr,true)];
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Rule eigenRef_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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eigenType_p [assign_a(arg.type)] >>
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ch_p('&') [assign_a(arg.is_ref,true)];
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Rule classArg_p =
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!str_p("const") [assign_a(arg.is_const,true)] >>
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*namespace_arg_p >>
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className_p[assign_a(arg.type)] >>
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(ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]);
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Rule classParent_p =
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*(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >>
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className_p[push_back_a(cls.qualifiedParent)];
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Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
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Rule argument_p =
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((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p)
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>> name_p[assign_a(arg.name)])
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[push_back_a(args, arg)]
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[assign_a(arg,arg0)];
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Rule argumentList_p = !argument_p >> * (',' >> argument_p);
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Rule constructor_p =
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(className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p)
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[push_back_a(constructor.args_list, args)]
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[assign_a(args,args0)];
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//[assign_a(constructor.args,args)]
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//[assign_a(constructor.name,cls.name)]
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//[push_back_a(cls.constructors, constructor)]
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//[assign_a(constructor,constructor0)];
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Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::");
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Rule returnType1_p =
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(basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) |
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((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)]
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>> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >>
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!ch_p('*')[assign_a(retVal.isPtr1,true)]) |
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(eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]);
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Rule returnType2_p =
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(basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) |
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((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)]
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>> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >>
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!ch_p('*') [assign_a(retVal.isPtr2,true)]) |
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(eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]);
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Rule pair_p =
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(str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>')
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[assign_a(retVal.isPair,true)];
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Rule void_p = str_p("void")[assign_a(retVal.type1)];
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Rule returnType_p = void_p | returnType1_p | pair_p;
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Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')];
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Rule method_p =
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(returnType_p >> methodName_p[assign_a(methodName)] >>
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'(' >> argumentList_p >> ')' >>
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!str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p)
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[bl::bind(&Method::addOverload,
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bl::var(cls.methods)[bl::var(methodName)],
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verbose,
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bl::var(isConst),
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bl::var(methodName),
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bl::var(args),
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bl::var(retVal))]
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[assign_a(isConst,isConst0)]
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[assign_a(methodName,methodName0)]
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[assign_a(args,args0)]
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[assign_a(retVal,retVal0)];
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Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
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Rule static_method_p =
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(str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >>
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'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
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[bl::bind(&StaticMethod::addOverload,
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bl::var(cls.static_methods)[bl::var(methodName)],
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verbose,
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bl::var(methodName),
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bl::var(args),
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bl::var(retVal))]
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[assign_a(methodName,methodName0)]
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[assign_a(args,args0)]
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[assign_a(retVal,retVal0)];
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Rule functions_p = constructor_p | method_p | static_method_p;
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Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>');
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Rule class_p =
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(!*include_p
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>> !(str_p("virtual")[assign_a(cls.isVirtual, true)])
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>> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)]
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>> className_p[assign_a(cls.name)]
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>> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec
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>> *(functions_p | comments_p)
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>> str_p("};"))
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[assign_a(constructor.name, cls.name)]
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[assign_a(cls.constructor, constructor)]
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[assign_a(cls.namespaces, namespaces)]
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[assign_a(cls.using_namespaces, using_namespace_current)]
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[append_a(cls.includes, namespace_includes)]
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[assign_a(deconstructor.name,cls.name)]
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[assign_a(cls.deconstructor, deconstructor)]
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[push_back_a(classes, cls)]
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[assign_a(deconstructor,deconstructor0)]
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[assign_a(constructor, constructor0)]
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[assign_a(cls,cls0)];
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Rule namespace_def_p =
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(!*include_p
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>> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)]
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>> namespace_name_p[push_back_a(namespaces)]
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>> ch_p('{')
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>> *(class_p | namespace_def_p | comments_p)
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>> str_p("}///\\namespace") // end namespace, avoid confusion with classes
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>> !namespace_name_p)
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[pop_a(namespaces)]
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[pop_a(namespace_includes)];
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Rule using_namespace_p =
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str_p("using") >> str_p("namespace")
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>> namespace_name_p[push_back_a(using_namespace_current)] >> ch_p(';');
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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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>> (*(namespace_name_p >> str_p("::")) >> 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 = comments_p | using_namespace_p | class_p | forward_declaration_p | namespace_def_p ;
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Rule module_p = *module_content_p >> !end_p;
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//----------------------------------------------------------------------------
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// for debugging, define BOOST_SPIRIT_DEBUG
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# ifdef BOOST_SPIRIT_DEBUG
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BOOST_SPIRIT_DEBUG_NODE(className_p);
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BOOST_SPIRIT_DEBUG_NODE(classPtr_p);
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BOOST_SPIRIT_DEBUG_NODE(classRef_p);
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BOOST_SPIRIT_DEBUG_NODE(basisType_p);
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BOOST_SPIRIT_DEBUG_NODE(name_p);
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BOOST_SPIRIT_DEBUG_NODE(argument_p);
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BOOST_SPIRIT_DEBUG_NODE(argumentList_p);
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BOOST_SPIRIT_DEBUG_NODE(constructor_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType1_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType2_p);
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BOOST_SPIRIT_DEBUG_NODE(pair_p);
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BOOST_SPIRIT_DEBUG_NODE(void_p);
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BOOST_SPIRIT_DEBUG_NODE(returnType_p);
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BOOST_SPIRIT_DEBUG_NODE(methodName_p);
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BOOST_SPIRIT_DEBUG_NODE(method_p);
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BOOST_SPIRIT_DEBUG_NODE(class_p);
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BOOST_SPIRIT_DEBUG_NODE(namespace_def_p);
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BOOST_SPIRIT_DEBUG_NODE(module_p);
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# endif
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//----------------------------------------------------------------------------
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// read interface file
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string interfaceFile = interfacePath + "/" + moduleName + ".h";
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string contents = file_contents(interfaceFile);
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// and parse contents
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parse_info<const char*> info = parse(contents.c_str(), module_p, space_p);
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if(!info.full) {
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printf("parsing stopped at \n%.20s\n",info.stop);
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throw ParseFailed(info.length);
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}
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}
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/* ************************************************************************* */
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template<class T>
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void verifyArguments(const vector<string>& validArgs, const map<string,T>& vt) {
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typedef typename map<string,T>::value_type Name_Method;
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BOOST_FOREACH(const Name_Method& name_method, vt) {
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const T& t = name_method.second;
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BOOST_FOREACH(const ArgumentList& argList, t.argLists) {
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BOOST_FOREACH(Argument arg, argList) {
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string fullType = arg.qualifiedType("::");
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if(find(validArgs.begin(), validArgs.end(), fullType)
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== validArgs.end())
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throw DependencyMissing(fullType, t.name);
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}
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}
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}
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}
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/* ************************************************************************* */
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template<class T>
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void verifyReturnTypes(const vector<string>& validtypes, const map<string,T>& vt) {
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typedef typename map<string,T>::value_type Name_Method;
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BOOST_FOREACH(const Name_Method& name_method, vt) {
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const T& t = name_method.second;
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BOOST_FOREACH(const ReturnValue& retval, t.returnVals) {
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if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end())
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throw DependencyMissing(retval.qualifiedType1("::"), t.name);
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if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end())
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throw DependencyMissing(retval.qualifiedType2("::"), t.name);
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}
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}
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}
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/* ************************************************************************* */
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void Module::matlab_code(const string& toolboxPath, const string& headerPath) 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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vector<string> functionNames; // Function names stored by index for switch
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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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// Dependency check list
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vector<string> validTypes;
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BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) {
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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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// Create type attributes table
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ReturnValue::TypeAttributesTable typeAttributes;
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BOOST_FOREACH(const ForwardDeclaration& fwDec, forward_declarations) {
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if(!typeAttributes.insert(make_pair(fwDec.name, ReturnValue::TypeAttributes(fwDec.isVirtual))).second)
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throw DuplicateDefinition("class " + fwDec.name);
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}
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BOOST_FOREACH(const Class& cls, classes) {
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if(!typeAttributes.insert(make_pair(cls.qualifiedName("::"), ReturnValue::TypeAttributes(cls.isVirtual))).second)
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throw DuplicateDefinition("class " + cls.qualifiedName("::"));
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}
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// Check attributes
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BOOST_FOREACH(const Class& cls, classes) {
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// Check that class is virtual if it has a parent
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if(!cls.qualifiedParent.empty() && !cls.isVirtual)
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throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'");
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// Check that parent is virtual as well
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if(!cls.qualifiedParent.empty() && !typeAttributes.at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual)
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throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent),
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"Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual");
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}
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// Check that all classes have been defined somewhere
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BOOST_FOREACH(const Class& cls, classes) {
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// verify all of the function arguments
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//TODO:verifyArguments<ArgumentList>(validTypes, cls.constructor.args_list);
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verifyArguments<StaticMethod>(validTypes, cls.static_methods);
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verifyArguments<Method>(validTypes, cls.methods);
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// verify function return types
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verifyReturnTypes<StaticMethod>(validTypes, cls.static_methods);
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verifyReturnTypes<Method>(validTypes, cls.methods);
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}
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// Generate all includes
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BOOST_FOREACH(const Class& cls, classes) {
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generateIncludes(wrapperFile, cls.name, cls.includes);
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}
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wrapperFile.oss << "\n";
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// Generate all collectors
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BOOST_FOREACH(const Class& cls, classes) {
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const string matlabName = cls.qualifiedName(), cppName = cls.qualifiedName("::");
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wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
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<< "Collector_" << matlabName << ";\n";
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wrapperFile.oss << "static Collector_" << matlabName <<
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" collector_" << matlabName << ";\n";
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}
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// generate mexAtExit cleanup function
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wrapperFile.oss << "\nvoid _deleteAllObjects()\n";
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wrapperFile.oss << "{\n";
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BOOST_FOREACH(const Class& cls, classes) {
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const string matlabName = cls.qualifiedName();
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const string cppName = cls.qualifiedName("::");
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const string collectorType = "Collector_" + matlabName;
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const string collectorName = "collector_" + matlabName;
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wrapperFile.oss << " for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n";
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wrapperFile.oss << " iter != " << collectorName << ".end(); ) {\n";
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wrapperFile.oss << " delete *iter;\n";
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wrapperFile.oss << " " << collectorName << ".erase(iter++);\n";
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wrapperFile.oss << " }\n";
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}
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wrapperFile.oss << "}\n";
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// create proxy class and wrapper code
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BOOST_FOREACH(const Class& cls, classes) {
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string classFile = toolboxPath + "/" + cls.qualifiedName() + ".m";
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cls.matlab_proxy(classFile, wrapperName, typeAttributes, wrapperFile, functionNames);
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}
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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);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
|
|
file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
|
file.oss << "{\n";
|
|
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console, see matlab.h
|
|
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
|
|
file.oss << " int id = unwrap<int>(in[0]);\n\n";
|
|
file.oss << " switch(id) {\n";
|
|
for(size_t id = 0; id < functionNames.size(); ++id) {
|
|
file.oss << " case " << id << ":\n";
|
|
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
|
|
file.oss << " break;\n";
|
|
}
|
|
file.oss << " }\n";
|
|
file.oss << "\n";
|
|
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout, see matlab.h
|
|
file.oss << "}\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|