Add wrapper fixes for Matlab memory leak

wrap/gtwrap/matlab_wrapper/templates.py

@@ -66,7 +66,7 @@ class WrapperTemplate:
                 mxDestroyArray(registry);
 
                 mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
-                if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {{
+                if(mexPutVariable("global", "gtsam_{module_name}_rttiRegistry_created", newAlreadyCreated) != 0) {{
                   mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
                 }}
                 mxDestroyArray(newAlreadyCreated);

wrap/gtwrap/matlab_wrapper/wrapper.py

@@ -5,16 +5,16 @@
 
 # pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements
 
+import copy
 import os
 import os.path as osp
 import textwrap
 from functools import partial, reduce
 from typing import Dict, Iterable, List, Union
-import copy
 
 import gtwrap.interface_parser as parser
-from gtwrap.interface_parser.function import ArgumentList
 import gtwrap.template_instantiator as instantiator
+from gtwrap.interface_parser.function import ArgumentList
 from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin
 from gtwrap.matlab_wrapper.templates import WrapperTemplate
 
@@ -1269,9 +1269,9 @@ def generate_collector_function(self, func_id):
                     Collector_{class_name}::iterator item;
                     item = collector_{class_name}.find(self);
                     if(item != collector_{class_name}.end()) {{
-                      delete self;
                       collector_{class_name}.erase(item);
                     }}
+                    delete self;
                 ''').format(class_name_sep=class_name_separated,
                             class_name=class_name),
                                         prefix='  ')

wrap/gtwrap/pybind_wrapper.py

@@ -92,9 +92,20 @@ def _wrap_method(self,
                      prefix,
                      suffix,
                      method_suffix=""):
+        """
+        Wrap the `method` for the class specified by `cpp_class`.
+
+        Args:
+            method: The method to wrap.
+            cpp_class: The C++ name of the class to which the method belongs.
+            prefix: Prefix to add to the wrapped method when writing to the cpp file.
+            suffix: Suffix to add to the wrapped method when writing to the cpp file.
+            method_suffix: A string to append to the wrapped method name.
+        """
         py_method = method.name + method_suffix
         cpp_method = method.to_cpp()
 
+        # Special handling for the serialize/serializable method
         if cpp_method in ["serialize", "serializable"]:
             if not cpp_class in self._serializing_classes:
                 self._serializing_classes.append(cpp_class)
@@ -104,16 +115,12 @@ def _wrap_method(self,
                      '.def("deserialize", []({class_inst} self, string serialized)' \
                      '{{ gtsam::deserialize(serialized, *self); }}, py::arg("serialized"))' \
                        .format(class_inst=cpp_class + '*')
-            return serialize_method + deserialize_method
 
-        if cpp_method == "pickle":
-            if not cpp_class in self._serializing_classes:
-                raise ValueError(
-                    "Cannot pickle a class which is not serializable")
+            # Since this class supports serialization, we also add the pickle method.
             pickle_method = self.method_indent + \
                 ".def(py::pickle({indent}    [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent}    [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }}))"
-            return pickle_method.format(cpp_class=cpp_class,
-                                        indent=self.method_indent)
+            return serialize_method + deserialize_method + \
+                pickle_method.format(cpp_class=cpp_class, indent=self.method_indent)
 
         # Add underscore to disambiguate if the method name matches a python keyword
         if py_method in self.python_keywords:

wrap/tests/expected/matlab/class_wrapper.cpp

@@ -145,7 +145,7 @@ void _class_RTTIRegister() {
     mxDestroyArray(registry);
 
     mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
-    if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
+    if(mexPutVariable("global", "gtsam_class_rttiRegistry_created", newAlreadyCreated) != 0) {
       mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
     }
     mxDestroyArray(newAlreadyCreated);
@@ -180,9 +180,9 @@ void FunRange_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxA
   Collector_FunRange::iterator item;
   item = collector_FunRange.find(self);
   if(item != collector_FunRange.end()) {
-    delete self;
     collector_FunRange.erase(item);
   }
+  delete self;
 }
 
 void FunRange_range_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -216,9 +216,9 @@ void FunDouble_deconstructor_6(int nargout, mxArray *out[], int nargin, const mx
   Collector_FunDouble::iterator item;
   item = collector_FunDouble.find(self);
   if(item != collector_FunDouble.end()) {
-    delete self;
     collector_FunDouble.erase(item);
   }
+  delete self;
 }
 
 void FunDouble_multiTemplatedMethod_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -301,9 +301,9 @@ void Test_deconstructor_15(int nargout, mxArray *out[], int nargin, const mxArra
   Collector_Test::iterator item;
   item = collector_Test.find(self);
   if(item != collector_Test.end()) {
-    delete self;
     collector_Test.erase(item);
   }
+  delete self;
 }
 
 void Test_arg_EigenConstRef_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -544,9 +544,9 @@ void PrimitiveRefDouble_deconstructor_43(int nargout, mxArray *out[], int nargin
   Collector_PrimitiveRefDouble::iterator item;
   item = collector_PrimitiveRefDouble.find(self);
   if(item != collector_PrimitiveRefDouble.end()) {
-    delete self;
     collector_PrimitiveRefDouble.erase(item);
   }
+  delete self;
 }
 
 void PrimitiveRefDouble_Brutal_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -584,9 +584,9 @@ void MyVector3_deconstructor_47(int nargout, mxArray *out[], int nargin, const m
   Collector_MyVector3::iterator item;
   item = collector_MyVector3.find(self);
   if(item != collector_MyVector3.end()) {
-    delete self;
     collector_MyVector3.erase(item);
   }
+  delete self;
 }
 
 void MyVector12_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -617,9 +617,9 @@ void MyVector12_deconstructor_50(int nargout, mxArray *out[], int nargin, const
   Collector_MyVector12::iterator item;
   item = collector_MyVector12.find(self);
   if(item != collector_MyVector12.end()) {
-    delete self;
     collector_MyVector12.erase(item);
   }
+  delete self;
 }
 
 void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -639,9 +639,9 @@ void MultipleTemplatesIntDouble_deconstructor_52(int nargout, mxArray *out[], in
   Collector_MultipleTemplatesIntDouble::iterator item;
   item = collector_MultipleTemplatesIntDouble.find(self);
   if(item != collector_MultipleTemplatesIntDouble.end()) {
-    delete self;
     collector_MultipleTemplatesIntDouble.erase(item);
   }
+  delete self;
 }
 
 void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -661,9 +661,9 @@ void MultipleTemplatesIntFloat_deconstructor_54(int nargout, mxArray *out[], int
   Collector_MultipleTemplatesIntFloat::iterator item;
   item = collector_MultipleTemplatesIntFloat.find(self);
   if(item != collector_MultipleTemplatesIntFloat.end()) {
-    delete self;
     collector_MultipleTemplatesIntFloat.erase(item);
   }
+  delete self;
 }
 
 void ForwardKinematics_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -714,9 +714,9 @@ void ForwardKinematics_deconstructor_58(int nargout, mxArray *out[], int nargin,
   Collector_ForwardKinematics::iterator item;
   item = collector_ForwardKinematics.find(self);
   if(item != collector_ForwardKinematics.end()) {
-    delete self;
     collector_ForwardKinematics.erase(item);
   }
+  delete self;
 }
 
 void TemplatedConstructor_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -783,9 +783,9 @@ void TemplatedConstructor_deconstructor_64(int nargout, mxArray *out[], int narg
   Collector_TemplatedConstructor::iterator item;
   item = collector_TemplatedConstructor.find(self);
   if(item != collector_TemplatedConstructor.end()) {
-    delete self;
     collector_TemplatedConstructor.erase(item);
   }
+  delete self;
 }
 
 void MyFactorPosePoint2_collectorInsertAndMakeBase_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -820,9 +820,9 @@ void MyFactorPosePoint2_deconstructor_67(int nargout, mxArray *out[], int nargin
   Collector_MyFactorPosePoint2::iterator item;
   item = collector_MyFactorPosePoint2.find(self);
   if(item != collector_MyFactorPosePoint2.end()) {
-    delete self;
     collector_MyFactorPosePoint2.erase(item);
   }
+  delete self;
 }
 
 void MyFactorPosePoint2_print_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])

wrap/tests/expected/matlab/functions_wrapper.cpp

@@ -51,7 +51,7 @@ void _functions_RTTIRegister() {
     mxDestroyArray(registry);
 
     mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
-    if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
+    if(mexPutVariable("global", "gtsam_functions_rttiRegistry_created", newAlreadyCreated) != 0) {
       mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
     }
     mxDestroyArray(newAlreadyCreated);

wrap/tests/expected/matlab/geometry_wrapper.cpp

@@ -118,9 +118,9 @@ void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const
   Collector_gtsamPoint2::iterator item;
   item = collector_gtsamPoint2.find(self);
   if(item != collector_gtsamPoint2.end()) {
-    delete self;
     collector_gtsamPoint2.erase(item);
   }
+  delete self;
 }
 
 void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -262,9 +262,9 @@ void gtsamPoint3_deconstructor_20(int nargout, mxArray *out[], int nargin, const
   Collector_gtsamPoint3::iterator item;
   item = collector_gtsamPoint3.find(self);
   if(item != collector_gtsamPoint3.end()) {
-    delete self;
     collector_gtsamPoint3.erase(item);
   }
+  delete self;
 }
 
 void gtsamPoint3_norm_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])

wrap/tests/expected/matlab/inheritance_wrapper.cpp

@@ -88,7 +88,7 @@ void _inheritance_RTTIRegister() {
     mxDestroyArray(registry);
 
     mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
-    if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
+    if(mexPutVariable("global", "gtsam_inheritance_rttiRegistry_created", newAlreadyCreated) != 0) {
       mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
     }
     mxDestroyArray(newAlreadyCreated);
@@ -121,9 +121,9 @@ void MyBase_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArr
   Collector_MyBase::iterator item;
   item = collector_MyBase.find(self);
   if(item != collector_MyBase.end()) {
-    delete self;
     collector_MyBase.erase(item);
   }
+  delete self;
 }
 
 void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -171,9 +171,9 @@ void MyTemplatePoint2_deconstructor_6(int nargout, mxArray *out[], int nargin, c
   Collector_MyTemplatePoint2::iterator item;
   item = collector_MyTemplatePoint2.find(self);
   if(item != collector_MyTemplatePoint2.end()) {
-    delete self;
     collector_MyTemplatePoint2.erase(item);
   }
+  delete self;
 }
 
 void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -339,9 +339,9 @@ void MyTemplateMatrix_deconstructor_22(int nargout, mxArray *out[], int nargin,
   Collector_MyTemplateMatrix::iterator item;
   item = collector_MyTemplateMatrix.find(self);
   if(item != collector_MyTemplateMatrix.end()) {
-    delete self;
     collector_MyTemplateMatrix.erase(item);
   }
+  delete self;
 }
 
 void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -492,9 +492,9 @@ void ForwardKinematicsFactor_deconstructor_37(int nargout, mxArray *out[], int n
   Collector_ForwardKinematicsFactor::iterator item;
   item = collector_ForwardKinematicsFactor.find(self);
   if(item != collector_ForwardKinematicsFactor.end()) {
-    delete self;
     collector_ForwardKinematicsFactor.erase(item);
   }
+  delete self;
 }
 
 

wrap/tests/expected/matlab/multiple_files_wrapper.cpp

@@ -75,7 +75,7 @@ void _multiple_files_RTTIRegister() {
     mxDestroyArray(registry);
 
     mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
-    if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
+    if(mexPutVariable("global", "gtsam_multiple_files_rttiRegistry_created", newAlreadyCreated) != 0) {
       mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
     }
     mxDestroyArray(newAlreadyCreated);
@@ -110,9 +110,9 @@ void gtsamClass1_deconstructor_2(int nargout, mxArray *out[], int nargin, const
   Collector_gtsamClass1::iterator item;
   item = collector_gtsamClass1.find(self);
   if(item != collector_gtsamClass1.end()) {
-    delete self;
     collector_gtsamClass1.erase(item);
   }
+  delete self;
 }
 
 void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -143,9 +143,9 @@ void gtsamClass2_deconstructor_5(int nargout, mxArray *out[], int nargin, const
   Collector_gtsamClass2::iterator item;
   item = collector_gtsamClass2.find(self);
   if(item != collector_gtsamClass2.end()) {
-    delete self;
     collector_gtsamClass2.erase(item);
   }
+  delete self;
 }
 
 void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -176,9 +176,9 @@ void gtsamClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const
   Collector_gtsamClassA::iterator item;
   item = collector_gtsamClassA.find(self);
   if(item != collector_gtsamClassA.end()) {
-    delete self;
     collector_gtsamClassA.erase(item);
   }
+  delete self;
 }