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######################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Rice University
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Rice University nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
######################################################################
# Author: Mark Moll
import logging
from os.path import exists, join, isdir
from os import getenv
import subprocess
from sys import platform
from pygccxml import declarations
from pyplusplus import module_builder, messages
from pyplusplus.module_builder import call_policies
from pyplusplus.decl_wrappers import print_declarations
# disable some warnings that are mostly harmless
messages.disable( messages.W1014 )
messages.disable( messages.W1023 )
messages.disable( messages.W1040 )
# create a dictionary called "default_replacement" that can be used to replace method
# declaration with another method. The dictionary is indexed by method name,
# either with or without full scope. For each method there is a 2-tuple. The
# first component is a string that tells Boost.Python how to export the
# replacement method. The second component is a string that contains the C++
# code for the replacement method.
default_replacement = {}
# A C++ call like "foo.print(std::cout)" will be replaced with something more
# pythonesque using the special __str__ method: "print(foo)"
default_replacement['print'] = ('def("__str__", &__str__)', """
std::string __str__(%s* obj)
{
std::ostringstream s;
obj->print(s);
return s.str();
}
""")
# A C++ call like "foo.printSettings(std::cout)" will be replaced with
# something more pythonesque: "print(foo.settings())"
default_replacement['printSettings'] = ('def("settings", &__printSettings)', """
std::string __printSettings(%s* obj)
{
std::ostringstream s;
obj->printSettings(s);
return s.str();
}
""")
# add array read access to objects that can return a const reference using the
# [] operator.
default_replacement['array_read_access'] = ('def("__getitem__", &__getitem)',"""
%s __getitem(%s* obj, unsigned int i)
{
return (*obj)[i];
}
""")
# add array write access to objects that can return a non-const reference
# using the [] operator.
default_replacement['array_write_access'] = ('def("__setitem__", &__setitem)',"""
void __setitem(%s* obj, unsigned int i, %s val)
{
(*obj)[i] = val;
}
""")
def returns_reference(decl):
"""Return True iff the declaration returns a pointer or reference."""
c = decl.return_type.decl_string[-1]
return c=='&' or c=='*'
class code_generator_t(object):
"""The base class code generator."""
def __init__(self, name, deps=None, replacement_dict=default_replacement, indexing_suite_version = 2):
"""Constructor.
@name name of the python module
@dep name of another module this module depends on"""
module_builder.set_logger_level( logging.INFO )
candidate_include_paths = [ "@OMPL_INCLUDE_DIR@", "@OMPLAPP_INCLUDE_DIR@",
"@PYTHON_INCLUDE_DIRS@", "@Boost_INCLUDE_DIR@", "@ASSIMP_INCLUDE_DIRS@", "@ODEINT_INCLUDE_DIR@"]
# Adding standard windows headers
if platform == 'win32':
compiler = getenv('GCCXML_COMPILER')
# MinGW
if compiler != None and (compiler.lower().endswith('g++') or compiler.lower().endswith('c++')):
version = subprocess.Popen([compiler, '-dumpversion'],
stdout=subprocess.PIPE).communicate()[0].strip()
# Find whole path to MinGW
compiler_path = ""
for path in getenv('PATH').split(';'):
if exists(join(path, compiler + '.exe')):
compiler_path = path
break
if compiler_path is not "":
# Adding in necessary include paths
candidate_include_paths.append (join(compiler_path, "..", "include"))
candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include"))
candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include", "c++"))
candidate_include_paths.append (join(compiler_path, "..", "lib", "gcc", "mingw32", version, "include", "c++", "mingw32"))
include_paths = []
for path in candidate_include_paths:
if len(path)>0 and exists(path):
include_paths.append(path)
self.mb = module_builder.module_builder_t(
files = [ 'bindings/' + name + '.h' ],
cache = '@CMAKE_BINARY_DIR@/pyplusplus_'+name+'.cache',
gccxml_path = "@GCCXML@",
include_paths = include_paths,
cflags="@PYOMPL_EXTRA_CFLAGS@",
indexing_suite_version = indexing_suite_version )
self.replacement = {} if replacement_dict==None else replacement_dict
self.mb.classes().always_expose_using_scope = True
self.mb.add_registration_code('PyEval_InitThreads();', tail=False)
self.std_ns = self.mb.namespace('std')
self.ompl_ns = self.mb.namespace('ompl')
self.call_policies()
self.filter_declarations()
if deps!=None:
for dep in deps:
self.mb.register_module_dependency(dep)
self.mb.build_code_creator( module_name='_'+name )
self.mb.split_module('bindings/' + name, use_files_sum_repository=True)
def call_policies(self):
"""Define default call policies: for anything that returns a reference,
return a reference to the existing object. This is potentially dangerous."""
decllist = [ self.mb.member_functions(returns_reference),
self.mb.free_functions(returns_reference),
self.mb.operators(returns_reference) ]
for decls in decllist:
for decl in decls:
if decl.return_type.decl_string[-7:]=='const &':
decl.call_policies = \
call_policies.return_value_policy(
call_policies.copy_const_reference)
else:
decl.call_policies = \
call_policies.return_value_policy(
call_policies.reference_existing_object)
def filter_declarations(self):
"""Remove some classes and functions from the std namespace"""
self.std_ns.class_('ios_base').exclude()
self.std_ns.free_functions().exclude()
self.std_ns.operators().exclude()
def replace_member_function(self, decl):
"""Utility function to replace a declaration."""
decl.exclude()
cls = decl.parent
self.mb.logger.info('Replacing member function ' + cls.decl_string+'::'+decl.name)
try:
(reg, wrapper) = self.replacement[cls.decl_string+'::'+decl.name]
except KeyError:
(reg, wrapper) = self.replacement[decl.name]
cls.add_registration_code(reg)
cls.add_declaration_code(wrapper % cls.decl_string)
def replace_member_functions(self, decls):
"""Utility function to replace multiple declarations."""
for decl in decls:
self.replace_member_function(decl)
def add_array_access(self, cls, rettype=None):
"""Add array indexing to a class."""
op = cls.operators("[]")
op.exclude()
self.mb.logger.info('Adding array access to class ' + cls.decl_string)
(reg, wrapper) = self.replacement['array_read_access']
cls.add_registration_code(reg)
if not rettype: rettype=op[0].return_type.decl_string
cls.add_declaration_code(wrapper % (rettype, cls.decl_string))
(reg, wrapper) = self.replacement['array_write_access']
cls.add_registration_code(reg)
cls.add_declaration_code(wrapper % (cls.decl_string, rettype))
def add_boost_function(self, FT, func_name, func_doc):
self.mb.add_declaration_code('PYDECLARE_FUNCTION(%s,%s)' % (FT, func_name))
self.mb.add_registration_code('PYREGISTER_FUNCTION(%s,%s,"%s")' % (FT, func_name, func_doc))
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