Merge pull request #749 from borglab/feature/wrap-update

wrap/CMakeLists.txt

@@ -35,17 +35,19 @@ configure_package_config_file(
             INSTALL_INCLUDE_DIR
   INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
 
-message(STATUS "Package config  : ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
+# Set all the install paths
+set(GTWRAP_CMAKE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR})
+set(GTWRAP_LIB_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR})
+set(GTWRAP_BIN_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR})
+set(GTWRAP_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR})
 
 # ##############################################################################
 # Install the package
 
-message(STATUS "CMake           : ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
 # Install CMake scripts to the standard CMake script directory.
-install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake
-        cmake/MatlabWrap.cmake cmake/PybindWrap.cmake cmake/GtwrapUtils.cmake
-  DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake
+              cmake/MatlabWrap.cmake cmake/PybindWrap.cmake
+              cmake/GtwrapUtils.cmake DESTINATION "${GTWRAP_CMAKE_INSTALL_DIR}")
 
 # Configure the include directory for matlab.h This allows the #include to be
 # either gtwrap/matlab.h, wrap/matlab.h or something custom.
@@ -60,24 +62,26 @@ configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in
 
 # Install the gtwrap python package as a directory so it can be found  by CMake
 # for wrapping.
-message(STATUS "Lib path        : ${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
-install(DIRECTORY gtwrap
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
+install(DIRECTORY gtwrap DESTINATION "${GTWRAP_LIB_INSTALL_DIR}")
 
 # Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/gtwrap/pybind11` This
 # will allow the gtwrapConfig.cmake file to load it later.
-install(DIRECTORY pybind11
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
+install(DIRECTORY pybind11 DESTINATION "${GTWRAP_LIB_INSTALL_DIR}")
 
 # Install wrapping scripts as binaries to `CMAKE_INSTALL_PREFIX/bin` so they can
 # be invoked for wrapping. We use DESTINATION (instead of TYPE) so we can
 # support older CMake versions.
-message(STATUS "Bin path        : ${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR}")
 install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR}")
+        DESTINATION "${GTWRAP_BIN_INSTALL_DIR}")
 
 # Install the matlab.h file to `CMAKE_INSTALL_PREFIX/lib/gtwrap/matlab.h`.
-message(
-  STATUS "Header path     : ${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
-install(FILES matlab.h
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
+install(FILES matlab.h DESTINATION "${GTWRAP_INCLUDE_INSTALL_DIR}")
+
+string(ASCII 27 Esc)
+set(gtwrap "${Esc}[1;36mgtwrap${Esc}[m")
+message(STATUS "${gtwrap} Package config : ${GTWRAP_CMAKE_INSTALL_DIR}")
+message(STATUS "${gtwrap} version        : ${PROJECT_VERSION}")
+message(STATUS "${gtwrap} CMake path     : ${GTWRAP_CMAKE_INSTALL_DIR}")
+message(STATUS "${gtwrap} library path   : ${GTWRAP_LIB_INSTALL_DIR}")
+message(STATUS "${gtwrap} binary path    : ${GTWRAP_BIN_INSTALL_DIR}")
+message(STATUS "${gtwrap} header path    : ${GTWRAP_INCLUDE_INSTALL_DIR}")

wrap/gtwrap/interface_parser/__init__.py

@@ -11,10 +11,12 @@
 """
 
 import sys
+
 import pyparsing
 
 from .classes import *
 from .declaration import *
+from .enum import *
 from .function import *
 from .module import *
 from .namespace import *

wrap/gtwrap/interface_parser/classes.py

@@ -12,13 +12,15 @@
 
 from typing import Iterable, List, Union
 
-from pyparsing import Optional, ZeroOrMore, Literal
+from pyparsing import Literal, Optional, ZeroOrMore
 
+from .enum import Enum
 from .function import ArgumentList, ReturnType
 from .template import Template
-from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, RBRACE,
-                     RPAREN, SEMI_COLON, STATIC, VIRTUAL, OPERATOR)
-from .type import TemplatedType, Type, Typename
+from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, OPERATOR,
+                     RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL)
+from .type import TemplatedType, Typename
+from .utils import collect_namespaces
 from .variable import Variable
 
 
@@ -200,21 +202,6 @@ def __repr__(self) -> str:
         )
 
 
-def collect_namespaces(obj):
-    """
-    Get the chain of namespaces from the lowest to highest for the given object.
-
-    Args:
-        obj: Object of type Namespace, Class or InstantiatedClass.
-    """
-    namespaces = []
-    ancestor = obj.parent
-    while ancestor and ancestor.name:
-        namespaces = [ancestor.name] + namespaces
-        ancestor = ancestor.parent
-    return [''] + namespaces
-
-
 class Class:
     """
     Rule to parse a class defined in the interface file.
@@ -230,9 +217,13 @@ class Members:
         """
         Rule for all the members within a class.
         """
-        rule = ZeroOrMore(Constructor.rule ^ StaticMethod.rule ^ Method.rule
-                          ^ Variable.rule ^ Operator.rule).setParseAction(
-                              lambda t: Class.Members(t.asList()))
+        rule = ZeroOrMore(Constructor.rule  #
+                          ^ StaticMethod.rule  #
+                          ^ Method.rule  #
+                          ^ Variable.rule  #
+                          ^ Operator.rule  #
+                          ^ Enum.rule  #
+                          ).setParseAction(lambda t: Class.Members(t.asList()))
 
         def __init__(self,
                      members: List[Union[Constructor, Method, StaticMethod,
@@ -242,6 +233,7 @@ def __init__(self,
             self.static_methods = []
             self.properties = []
             self.operators = []
+            self.enums = []
             for m in members:
                 if isinstance(m, Constructor):
                     self.ctors.append(m)
@@ -253,6 +245,8 @@ def __init__(self,
                     self.properties.append(m)
                 elif isinstance(m, Operator):
                     self.operators.append(m)
+                elif isinstance(m, Enum):
+                    self.enums.append(m)
 
     _parent = COLON + (TemplatedType.rule ^ Typename.rule)("parent_class")
     rule = (
@@ -275,6 +269,7 @@ def __init__(self,
         t.members.static_methods,
         t.members.properties,
         t.members.operators,
+        t.members.enums
     ))
 
     def __init__(
@@ -288,6 +283,7 @@ def __init__(
         static_methods: List[StaticMethod],
         properties: List[Variable],
         operators: List[Operator],
+        enums: List[Enum],
         parent: str = '',
     ):
         self.template = template
@@ -312,6 +308,8 @@ def __init__(
         self.static_methods = static_methods
         self.properties = properties
         self.operators = operators
+        self.enums = enums
+
         self.parent = parent
 
         # Make sure ctors' names and class name are the same.

wrap/gtwrap/interface_parser/enum.py

@@ -0,0 +1,70 @@
+"""
+GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Parser class and rules for parsing C++ enums.
+
+Author: Varun Agrawal
+"""
+
+from pyparsing import delimitedList
+
+from .tokens import ENUM, IDENT, LBRACE, RBRACE, SEMI_COLON
+from .type import Typename
+from .utils import collect_namespaces
+
+
+class Enumerator:
+    """
+    Rule to parse an enumerator inside an enum.
+    """
+    rule = (
+        IDENT("enumerator")).setParseAction(lambda t: Enumerator(t.enumerator))
+
+    def __init__(self, name):
+        self.name = name
+
+    def __repr__(self):
+        return "Enumerator: ({0})".format(self.name)
+
+
+class Enum:
+    """
+    Rule to parse enums defined in the interface file.
+
+    E.g.
+    ```
+    enum Kind {
+        Dog,
+        Cat
+    };
+    ```
+    """
+
+    rule = (ENUM + IDENT("name") + LBRACE +
+            delimitedList(Enumerator.rule)("enumerators") + RBRACE +
+            SEMI_COLON).setParseAction(lambda t: Enum(t.name, t.enumerators))
+
+    def __init__(self, name, enumerators, parent=''):
+        self.name = name
+        self.enumerators = enumerators
+        self.parent = parent
+
+    def namespaces(self) -> list:
+        """Get the namespaces which this class is nested under as a list."""
+        return collect_namespaces(self)
+
+    def cpp_typename(self):
+        """
+        Return a Typename with the namespaces and cpp name of this
+        class.
+        """
+        namespaces_name = self.namespaces()
+        namespaces_name.append(self.name)
+        return Typename(namespaces_name)
+
+    def __repr__(self):
+        return "Enum: {0}".format(self.name)

wrap/gtwrap/interface_parser/function.py

@@ -50,6 +50,9 @@ def __init__(self,
         # This means a tuple has been passed so we convert accordingly
         elif len(default) > 1:
             default = tuple(default.asList())
+        else:
+            # set to None explicitly so we can support empty strings
+            default = None
         self.default = default
 
         self.parent: Union[ArgumentList, None] = None

wrap/gtwrap/interface_parser/module.py

@@ -12,14 +12,11 @@
 
 # pylint: disable=unnecessary-lambda, unused-import, expression-not-assigned, no-else-return, protected-access, too-few-public-methods, too-many-arguments
 
-import sys
-
-import pyparsing  # type: ignore
-from pyparsing import (ParserElement, ParseResults, ZeroOrMore,
-                       cppStyleComment, stringEnd)
+from pyparsing import ParseResults, ZeroOrMore, cppStyleComment, stringEnd
 
 from .classes import Class
 from .declaration import ForwardDeclaration, Include
+from .enum import Enum
 from .function import GlobalFunction
 from .namespace import Namespace
 from .template import TypedefTemplateInstantiation
@@ -44,7 +41,8 @@ class Module:
                    ^ Class.rule  #
                    ^ TypedefTemplateInstantiation.rule  #
                    ^ GlobalFunction.rule  #
-                   ^ Variable.rule #
+                   ^ Enum.rule  #
+                   ^ Variable.rule  #
                    ^ Namespace.rule  #
                    ).setParseAction(lambda t: Namespace('', t.asList())) +
         stringEnd)

wrap/gtwrap/interface_parser/namespace.py

@@ -18,6 +18,7 @@
 
 from .classes import Class, collect_namespaces
 from .declaration import ForwardDeclaration, Include
+from .enum import Enum
 from .function import GlobalFunction
 from .template import TypedefTemplateInstantiation
 from .tokens import IDENT, LBRACE, NAMESPACE, RBRACE
@@ -68,7 +69,8 @@ class Namespace:
             ^ Class.rule  #
             ^ TypedefTemplateInstantiation.rule  #
             ^ GlobalFunction.rule  #
-            ^ Variable.rule #
+            ^ Enum.rule  #
+            ^ Variable.rule  #
             ^ rule  #
         )("content")  # BR
         + RBRACE  #

wrap/gtwrap/interface_parser/tokens.py

@@ -46,6 +46,7 @@
         "#include",
     ],
 )
+ENUM = Keyword("enum") ^ Keyword("enum class") ^ Keyword("enum struct")
 NAMESPACE = Keyword("namespace")
 BASIS_TYPES = map(
     Keyword,

wrap/gtwrap/interface_parser/utils.py

@@ -0,0 +1,26 @@
+"""
+GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Various common utilities.
+
+Author: Varun Agrawal
+"""
+
+
+def collect_namespaces(obj):
+    """
+    Get the chain of namespaces from the lowest to highest for the given object.
+
+    Args:
+        obj: Object of type Namespace, Class, InstantiatedClass, or Enum.
+    """
+    namespaces = []
+    ancestor = obj.parent
+    while ancestor and ancestor.name:
+        namespaces = [ancestor.name] + namespaces
+        ancestor = ancestor.parent
+    return [''] + namespaces

wrap/gtwrap/interface_parser/variable.py

@@ -46,6 +46,8 @@ def __init__(self,
         self.name = name
         if default:
             self.default = default[0]
+        else:
+            self.default = None
 
         self.parent = parent