Merge pull request #180 from borglab/fix-175

Author: varunagrawal

CMakeLists.txt

@@ -37,7 +37,7 @@ configure_package_config_file(
             INSTALL_INCLUDE_DIR)
 
 # Set all the install paths
-set(GTWRAP_CMAKE_INSTALL_DIR $${INSTALL_CMAKE_DIR})
+set(GTWRAP_CMAKE_INSTALL_DIR ${INSTALL_CMAKE_DIR})
 set(GTWRAP_LIB_INSTALL_DIR ${INSTALL_LIB_DIR})
 set(GTWRAP_BIN_INSTALL_DIR ${INSTALL_BIN_DIR})
 set(GTWRAP_INCLUDE_INSTALL_DIR ${INSTALL_INCLUDE_DIR})

gtwrap/interface_parser/enum.py

@@ -62,9 +62,7 @@ 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)
+        return Typename(self.name, self.namespaces())
 
     def __repr__(self):
         return "Enum: {0}".format(self.name)

gtwrap/interface_parser/function.py

@@ -12,8 +12,7 @@
 
 from typing import Any, Iterable, List, Union
 
-from pyparsing import (Literal, Optional, ParseResults,  # type: ignore
-                       delimitedList)
+from pyparsing import Literal, Optional, ParseResults, delimitedList
 
 from .template import Template
 from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR,

gtwrap/interface_parser/type.py

@@ -42,13 +42,14 @@ class Typename:
     namespaces_name_rule = delimitedList(IDENT, "::")
     rule = (
         namespaces_name_rule("namespaces_and_name")  #
-    ).setParseAction(lambda t: Typename(t))
+    ).setParseAction(lambda t: Typename.from_parse_result(t))
 
     def __init__(self,
-                 t: ParseResults,
+                 name: str,
+                 namespaces: list[str],
                  instantiations: Sequence[ParseResults] = ()):
-        self.name = t[-1]  # the name is the last element in this list
-        self.namespaces = t[:-1]
+        self.name = name
+        self.namespaces = namespaces
 
         # If the first namespace is empty string, just get rid of it.
         if self.namespaces and self.namespaces[0] == '':
@@ -63,12 +64,38 @@ def __init__(self,
             self.instantiations = []
 
     @staticmethod
-    def from_parse_result(parse_result: Union[str, list]):
+    def from_parse_result(parse_result: list):
         """Unpack the parsed result to get the Typename instance."""
-        return parse_result[0]
+        name = parse_result[-1]  # the name is the last element in this list
+        namespaces = parse_result[:-1]
+        return Typename(name, namespaces)
 
     def __repr__(self) -> str:
-        return self.to_cpp()
+        if self.get_template_args():
+            templates = f"<{self.get_template_args()}>"
+        else:
+            templates = ""
+
+        if len(self.namespaces) > 0:
+            namespaces = "::".join(self.namespaces) + "::"
+        else:
+            namespaces = ""
+
+        return f"{namespaces}{self.name}{templates}"
+
+    def get_template_args(self) -> str:
+        """Return the template args as a string, e.g. <double, gtsam::Pose3>."""
+        return ", ".join([inst.to_cpp() for inst in self.instantiations])
+
+    def templated_name(self) -> str:
+        """Return the name without namespace and with the template instantiations if any."""
+        if self.instantiations:
+            templates = self.get_template_args()
+            name = f"{self.name}<{templates}>"
+        else:
+            name = self.name
+
+        return name
 
     def instantiated_name(self) -> str:
         """Get the instantiated name of the type."""
@@ -84,8 +111,7 @@ def qualified_name(self):
     def to_cpp(self) -> str:
         """Generate the C++ code for wrapping."""
         if self.instantiations:
-            cpp_name = self.name + "<{}>".format(", ".join(
-                [inst.to_cpp() for inst in self.instantiations]))
+            cpp_name = self.name + f"<{self.get_template_args()}>"
         else:
             cpp_name = self.name
         return '{}{}{}'.format(
@@ -129,7 +155,7 @@ class BasicType:
     rule = (Or(BASIC_TYPES)("typename")).setParseAction(lambda t: BasicType(t))
 
     def __init__(self, t: ParseResults):
-        self.typename = Typename(t)
+        self.typename = Typename.from_parse_result(t)
 
 
 class CustomType:
@@ -148,7 +174,7 @@ class CustomType:
     rule = (Typename.rule("typename")).setParseAction(lambda t: CustomType(t))
 
     def __init__(self, t: ParseResults):
-        self.typename = Typename(t)
+        self.typename = Typename.from_parse_result(t)
 
 
 class Type:
@@ -226,18 +252,16 @@ def to_cpp(self) -> str:
         """
 
         if self.is_shared_ptr:
-            typename = "std::shared_ptr<{typename}>".format(
-                typename=self.get_typename())
+            typename = f"std::shared_ptr<{self.get_typename()}>"
         elif self.is_ptr:
-            typename = "{typename}*".format(typename=self.typename.to_cpp())
+            typename = f"{self.typename.to_cpp()}*"
         elif self.is_ref:
-            typename = typename = "{typename}&".format(
-                typename=self.get_typename())
+            typename = f"{self.get_typename()}&"
         else:
             typename = self.get_typename()
 
-        return ("{const}{typename}".format(
-            const="const " if self.is_const else "", typename=typename))
+        const = "const " if self.is_const else ""
+        return f"{const}{typename}"
 
 
 class TemplatedType:
@@ -265,7 +289,7 @@ def __init__(self, typename: Typename, template_params: List[Type],
                  is_const: str, is_shared_ptr: str, is_ptr: str, is_ref: str):
         instantiations = [param.typename for param in template_params]
         # Recreate the typename but with the template params as instantiations.
-        self.typename = Typename(typename.namespaces + [typename.name],
+        self.typename = Typename(typename.name, typename.namespaces,
                                  instantiations)
 
         self.template_params = template_params
@@ -278,22 +302,33 @@ def __init__(self, typename: Typename, template_params: List[Type],
     @staticmethod
     def from_parse_result(t: ParseResults):
         """Get the TemplatedType from the parser results."""
-        return TemplatedType(t.typename, t.template_params, t.is_const,
-                             t.is_shared_ptr, t.is_ptr, t.is_ref)
+        return TemplatedType(t.typename, t.template_params.as_list(),
+                             t.is_const, t.is_shared_ptr, t.is_ptr, t.is_ref)
 
     def __repr__(self):
-        return "TemplatedType({typename.namespaces}::{typename.name})".format(
-            typename=self.typename)
+        return "TemplatedType({typename.namespaces}::{typename.name}<{template_params}>)".format(
+            typename=self.typename, template_params=self.template_params)
+
+    def get_template_params(self):
+        """
+        Get the template args for the type as a string.
+        E.g. for
+            ```
+            template <T = {double}, U = {string}>
+            class Random(){};
+            ```
+        it returns `<double, string>`.
+        
+        """
+        # Use Type.to_cpp to do the heavy lifting for the template parameters.
+        return ", ".join([t.to_cpp() for t in self.template_params])
 
     def get_typename(self):
         """
         Get the typename of this type without any qualifiers.
         E.g. for `const std::vector<double>& indices` this will return `std::vector<double>`.
         """
-        # Use Type.to_cpp to do the heavy lifting for the template parameters.
-        template_args = ", ".join([t.to_cpp() for t in self.template_params])
-
-        return f"{self.typename.qualified_name()}<{template_args}>"
+        return f"{self.typename.qualified_name()}<{self.get_template_params()}>"
 
     def to_cpp(self):
         """

gtwrap/pybind_wrapper.py

@@ -18,9 +18,10 @@
 
 import gtwrap.interface_parser as parser
 import gtwrap.template_instantiator as instantiator
-
+from gtwrap.interface_parser.function import ArgumentList
 from gtwrap.xml_parser.xml_parser import XMLDocParser
 
+
 class PybindWrapper:
     """
     Class to generate binding code for Pybind11 specifically.
@@ -30,7 +31,7 @@ def __init__(self,
                  module_name,
                  top_module_namespaces='',
                  use_boost_serialization=False,
-                 ignore_classes=(),                 
+                 ignore_classes=(),
                  module_template="",
                  xml_source=""):
         self.module_name = module_name
@@ -76,7 +77,7 @@ def _py_args_names(self, args):
         else:
             return ''
 
-    def _method_args_signature(self, args):
+    def _method_args_signature(self, args: ArgumentList):
         """Generate the argument types and names as per the method signature."""
         cpp_types = args.to_cpp()
         names = args.names()
@@ -260,37 +261,42 @@ def _wrap_method(self,
                              args_names=', '.join(args_names),
                          ))
 
-        ret = ('{prefix}.{cdef}("{py_method}",'
-               '[]({opt_self}{opt_comma}{args_signature_with_names}){{'
-               '{function_call}'
-               '}}'
-               '{py_args_names}{docstring}){suffix}'.format(
-                   prefix=prefix,
-                   cdef="def_static" if is_static else "def",
-                   py_method=py_method,
-                   opt_self="{cpp_class}* self".format(
-                       cpp_class=cpp_class) if is_method else "",
-                   opt_comma=', ' if is_method and args_names else '',
-                   args_signature_with_names=args_signature_with_names,
-                   function_call=function_call,
-                   py_args_names=py_args_names,
-                   suffix=suffix,
-                   # Try to get the function's docstring from the Doxygen XML.
-                   # If extract_docstring errors or fails to find a docstring, it just prints a warning.
-                   # The incantation repr(...)[1:-1].replace('"', r'\"') replaces newlines with \n 
-                   # and " with \" so that the docstring can be put into a C++ string on a single line.
-                   docstring=', "' + repr(self.xml_parser.extract_docstring(self.xml_source, cpp_class, cpp_method, method.args.names()))[1:-1].replace('"', r'\"') + '"' 
-                       if self.xml_source != "" else "",
-               ))
+        result = (
+            '{prefix}.{cdef}("{py_method}",'
+            '[]({opt_self}{opt_comma}{args_signature_with_names}){{'
+            '{function_call}'
+            '}}'
+            '{py_args_names}{docstring}){suffix}'.format(
+                prefix=prefix,
+                cdef="def_static" if is_static else "def",
+                py_method=py_method,
+                opt_self="{cpp_class}* self".format(
+                    cpp_class=cpp_class) if is_method else "",
+                opt_comma=', '
+                if is_method and args_signature_with_names else '',
+                args_signature_with_names=args_signature_with_names,
+                function_call=function_call,
+                py_args_names=py_args_names,
+                suffix=suffix,
+                # Try to get the function's docstring from the Doxygen XML.
+                # If extract_docstring errors or fails to find a docstring, it just prints a warning.
+                # The incantation repr(...)[1:-1].replace('"', r'\"') replaces newlines with \n
+                # and " with \" so that the docstring can be put into a C++ string on a single line.
+                docstring=', "' + repr(
+                    self.xml_parser.extract_docstring(
+                        self.xml_source, cpp_class, cpp_method,
+                        method.args.names()))[1:-1].replace('"', r'\"') +
+                '"' if self.xml_source != "" else "",
+            ))
 
         # Create __repr__ override
         # We allow all arguments to .print() and let the compiler handle type mismatches.
         if method.name == 'print':
-            ret = self._wrap_print(ret, method, cpp_class, args_names,
-                                   args_signature_with_names, py_args_names,
-                                   prefix, suffix)
+            result = self._wrap_print(result, method, cpp_class, args_names,
+                                      args_signature_with_names, py_args_names,
+                                      prefix, suffix)
 
-        return ret
+        return result
 
     def wrap_dunder_methods(self,
                             methods,

gtwrap/template_instantiator/classes.py

@@ -2,7 +2,8 @@
 
 import gtwrap.interface_parser as parser
 from gtwrap.template_instantiator.constructor import InstantiatedConstructor
-from gtwrap.template_instantiator.helpers import (InstantiationHelper,
+from gtwrap.template_instantiator.helpers import (InstantiatedMember,
+                                                  InstantiationHelper,
                                                   instantiate_args_list,
                                                   instantiate_name,
                                                   instantiate_return_type,
@@ -57,7 +58,7 @@ def __init__(self, original: parser.Class, instantiations=(), new_name=''):
 
         # Instantiate all instance methods
         self.methods = self.instantiate_methods(typenames)
-        
+
         self.dunder_methods = original.dunder_methods
 
         super().__init__(
@@ -99,9 +100,11 @@ def instantiate_parent_class(self, typenames):
         """
 
         if isinstance(self.original.parent_class, parser.type.TemplatedType):
-            return instantiate_type(
-                self.original.parent_class, typenames, self.instantiations,
-                parser.Typename(self.namespaces())).typename
+            namespaces = self.namespaces()
+            typename = parser.Typename(name=namespaces[-1],
+                                       namespaces=namespaces[:-1])
+            return instantiate_type(self.original.parent_class, typenames,
+                                    self.instantiations, typename).typename
         else:
             return self.original.parent_class
 
@@ -140,7 +143,7 @@ def instantiate_static_methods(self, typenames):
 
         return instantiated_static_methods
 
-    def instantiate_methods(self, typenames):
+    def instantiate_methods(self, typenames) -> list[InstantiatedMember]:
         """
         Instantiate regular methods in the class.
 
@@ -225,9 +228,8 @@ def cpp_typename(self):
                 ", ".join([inst.to_cpp() for inst in self.instantiations]))
         else:
             name = self.original.name
-        namespaces_name = self.namespaces()
-        namespaces_name.append(name)
-        return parser.Typename(namespaces_name)
+
+        return parser.Typename(name=name, namespaces=self.namespaces())
 
     def to_cpp(self):
         """Generate the C++ code for wrapping."""

gtwrap/template_instantiator/declaration.py

@@ -35,10 +35,8 @@ def to_cpp(self):
         ]
         name = "{}<{}>".format(self.original.name,
                                ",".join(instantiated_names))
-        namespaces_name = self.namespaces()
-        namespaces_name.append(name)
         # Leverage Typename to generate the fully qualified C++ name
-        return parser.Typename(namespaces_name).to_cpp()
+        return parser.Typename(name=name, namespaces=self.namespaces()).to_cpp()
 
     def __repr__(self):
         return "Instantiated {}".format(

gtwrap/template_instantiator/function.py

@@ -65,4 +65,4 @@ def to_cpp(self):
         return ret
 
     def __repr__(self):
-        return f"Instantiated {super().__repr__}"
+        return f"Instantiated {super().__repr__()}"