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Wrapper Update #1084

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merged 2 commits into from
Feb 3, 2022
Merged

Wrapper Update #1084

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f1e11d0
Squashed 'wrap/' changes from 767a74718..56e7c0c81
varunagrawal Feb 2, 2022
35fa8c8
Merging 'master' into 'wrap'
varunagrawal Feb 2, 2022
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21 changes: 13 additions & 8 deletions wrap/gtwrap/matlab_wrapper/mixins.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,25 +26,30 @@ def _has_serialization(self, cls):
return True
return False

def can_be_pointer(self, arg_type: parser.Type):
"""
Determine if the `arg_type` can have a pointer to it.

E.g. `Pose3` can have `Pose3*` but
`Matrix` should not have `Matrix*`.
"""
return (arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')

def is_shared_ptr(self, arg_type: parser.Type):
"""
Determine if the `interface_parser.Type` should be treated as a
shared pointer in the wrapper.
"""
return arg_type.is_shared_ptr or (
arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')
return arg_type.is_shared_ptr

def is_ptr(self, arg_type: parser.Type):
"""
Determine if the `interface_parser.Type` should be treated as a
raw pointer in the wrapper.
"""
return arg_type.is_ptr or (
arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')
return arg_type.is_ptr

def is_ref(self, arg_type: parser.Type):
"""
Expand Down
96 changes: 53 additions & 43 deletions wrap/gtwrap/matlab_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -147,11 +147,13 @@ def _expand_default_arguments(method, save_backup=True):
"""
def args_copy(args):
return ArgumentList([copy.copy(arg) for arg in args.list()])

def method_copy(method):
method2 = copy.copy(method)
method2.args = args_copy(method.args)
method2.args.backup = method.args.backup
return method2

if save_backup:
method.args.backup = args_copy(method.args)
method = method_copy(method)
Expand All @@ -162,7 +164,8 @@ def method_copy(method):
method.args.list().remove(arg)
return [
methodWithArg,
*MatlabWrapper._expand_default_arguments(method, save_backup=False)
*MatlabWrapper._expand_default_arguments(method,
save_backup=False)
]
break
assert all(arg.default is None for arg in method.args.list()), \
Expand All @@ -180,9 +183,12 @@ def _group_methods(self, methods):

if method_index is None:
method_map[method.name] = len(method_out)
method_out.append(MatlabWrapper._expand_default_arguments(method))
method_out.append(
MatlabWrapper._expand_default_arguments(method))
else:
method_out[method_index] += MatlabWrapper._expand_default_arguments(method)
method_out[
method_index] += MatlabWrapper._expand_default_arguments(
method)

return method_out

Expand Down Expand Up @@ -337,43 +343,42 @@ def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False):
body_args = ''

for arg in args.list():
ctype_camel = self._format_type_name(arg.ctype.typename,
separator='')
ctype_sep = self._format_type_name(arg.ctype.typename)

if self.is_ref(arg.ctype): # and not constructor:
ctype_camel = self._format_type_name(arg.ctype.typename,
separator='')
body_args += textwrap.indent(textwrap.dedent('''\
{ctype}& {name} = *unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");
'''.format(ctype=self._format_type_name(arg.ctype.typename),
ctype_camel=ctype_camel,
name=arg.name,
id=arg_id)),
prefix=' ')

elif (self.is_shared_ptr(arg.ctype) or self.is_ptr(arg.ctype)) and \
arg_type = "{ctype}&".format(ctype=ctype_sep)
unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(
ctype=ctype_sep, ctype_camel=ctype_camel, id=arg_id)

elif self.is_ptr(arg.ctype) and \
arg.ctype.typename.name not in self.ignore_namespace:
if arg.ctype.is_shared_ptr:
call_type = arg.ctype.is_shared_ptr
else:
call_type = arg.ctype.is_ptr

body_args += textwrap.indent(textwrap.dedent('''\
{std_boost}::shared_ptr<{ctype_sep}> {name} = unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");
'''.format(std_boost='boost' if constructor else 'boost',
ctype_sep=self._format_type_name(
arg.ctype.typename),
ctype=self._format_type_name(arg.ctype.typename,
separator=''),
name=arg.name,
id=arg_id)),
prefix=' ')
arg_type = "{ctype_sep}*".format(ctype_sep=ctype_sep)
unwrap = 'unwrap_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)

else:
body_args += textwrap.indent(textwrap.dedent('''\
{ctype} {name} = unwrap< {ctype} >(in[{id}]);
'''.format(ctype=arg.ctype.typename.name,
name=arg.name,
id=arg_id)),
prefix=' ')
elif (self.is_shared_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
arg.ctype.typename.name not in self.ignore_namespace:
call_type = arg.ctype.is_shared_ptr

arg_type = "{std_boost}::shared_ptr<{ctype_sep}>".format(
std_boost='boost' if constructor else 'boost',
ctype_sep=ctype_sep)
unwrap = 'unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)

else:
arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
ctype=arg.ctype.typename.name, id=arg_id)

body_args += textwrap.indent(textwrap.dedent('''\
{arg_type} {name} = {unwrap}
'''.format(arg_type=arg_type, name=arg.name,
unwrap=unwrap)),
prefix=' ')
arg_id += 1

params = ''
Expand All @@ -383,12 +388,14 @@ def _wrapper_unwrap_arguments(self, args, arg_id=0, constructor=False):
if params != '':
params += ','

if (arg.default is not None) and (arg.name not in explicit_arg_names):
if (arg.default is not None) and (arg.name
not in explicit_arg_names):
params += arg.default
continue

if (not self.is_ref(arg.ctype)) and (self.is_shared_ptr(arg.ctype)) and (self.is_ptr(
arg.ctype)) and (arg.ctype.typename.name not in self.ignore_namespace):
if not self.is_ref(arg.ctype) and (self.is_shared_ptr(arg.ctype) or \
self.is_ptr(arg.ctype) or self.can_be_pointer(arg.ctype))and \
arg.ctype.typename.name not in self.ignore_namespace:
if arg.ctype.is_shared_ptr:
call_type = arg.ctype.is_shared_ptr
else:
Expand Down Expand Up @@ -601,7 +608,8 @@ def wrap_class_constructors(self, namespace_name, inst_class, parent_name,
if not isinstance(ctors, Iterable):
ctors = [ctors]

ctors = sum((MatlabWrapper._expand_default_arguments(ctor) for ctor in ctors), [])
ctors = sum((MatlabWrapper._expand_default_arguments(ctor)
for ctor in ctors), [])

methods_wrap = textwrap.indent(textwrap.dedent("""\
methods
Expand Down Expand Up @@ -885,10 +893,10 @@ def wrap_static_methods(self, namespace_name, instantiated_class,
wrapper=self._wrapper_name(),
id=self._update_wrapper_id(
(namespace_name, instantiated_class,
static_overload.name, static_overload)),
static_overload.name, static_overload)),
class_name=instantiated_class.name,
end_statement=end_statement),
prefix=' ')
prefix=' ')

# If the arguments don't match any of the checks above,
# throw an error with the class and method name.
Expand Down Expand Up @@ -1079,7 +1087,8 @@ def wrap_collector_function_return_types(self, return_type, func_id):
pair_value = 'first' if func_id == 0 else 'second'
new_line = '\n' if func_id == 0 else ''

if self.is_shared_ptr(return_type) or self.is_ptr(return_type):
if self.is_shared_ptr(return_type) or self.is_ptr(return_type) or \
self.can_be_pointer(return_type):
shared_obj = 'pairResult.' + pair_value

if not (return_type.is_shared_ptr or return_type.is_ptr):
Expand Down Expand Up @@ -1145,7 +1154,8 @@ def wrap_collector_function_return(self, method):

if return_1_name != 'void':
if return_count == 1:
if self.is_shared_ptr(return_1) or self.is_ptr(return_1):
if self.is_shared_ptr(return_1) or self.is_ptr(return_1) or \
self.can_be_pointer(return_1):
sep_method_name = partial(self._format_type_name,
return_1.typename,
include_namespace=True)
Expand Down
8 changes: 8 additions & 0 deletions wrap/matlab.h
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Original file line number Diff line number Diff line change
Expand Up @@ -477,6 +477,14 @@ boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& pro
return *spp;
}

template <typename Class>
Class* unwrap_ptr(const mxArray* obj, const string& propertyName) {

mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str());
Class* x = reinterpret_cast<Class*> (mxGetData(mxh));
return x;
}

//// throw an error if unwrap_shared_ptr is attempted for an Eigen Vector
//template <>
//Vector unwrap_shared_ptr<Vector>(const mxArray* obj, const string& propertyName) {
Expand Down
6 changes: 3 additions & 3 deletions wrap/tests/expected/matlab/ForwardKinematicsFactor.m
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,9 @@
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = inheritance_wrapper(36, varargin{2});
my_ptr = inheritance_wrapper(52, varargin{2});
end
base_ptr = inheritance_wrapper(35, my_ptr);
base_ptr = inheritance_wrapper(51, my_ptr);
else
error('Arguments do not match any overload of ForwardKinematicsFactor constructor');
end
Expand All @@ -22,7 +22,7 @@
end

function delete(obj)
inheritance_wrapper(37, obj.ptr_ForwardKinematicsFactor);
inheritance_wrapper(53, obj.ptr_ForwardKinematicsFactor);
end

function display(obj), obj.print(''); end
Expand Down
2 changes: 1 addition & 1 deletion wrap/tests/expected/matlab/functions_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ void load2D_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("load2D",nargout,nargin,2);
string filename = unwrap< string >(in[0]);
boost::shared_ptr<gtsam::noiseModel::Diagonal> model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
gtsam::noiseModel::Diagonal* model = unwrap_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
auto pairResult = load2D(filename,model);
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
Expand Down
4 changes: 2 additions & 2 deletions wrap/tests/expected/matlab/geometry_wrapper.cpp
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Expand Up @@ -151,7 +151,7 @@ void gtsamPoint2_argChar_7(int nargout, mxArray *out[], int nargin, const mxArra
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
char* a = unwrap_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}

Expand All @@ -175,7 +175,7 @@ void gtsamPoint2_argChar_10(int nargout, mxArray *out[], int nargin, const mxArr
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
char* a = unwrap_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}

Expand Down
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