def test_namespaces(self):
"""
Test interface file with full namespace definition.
"""
file = osp.join(self.INTERFACE_DIR, 'namespaces.i')
wrapper = MatlabWrapper(
module_name='namespaces',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'namespaces_wrapper.cpp',
'+ns1/aGlobalFunction.m',
'+ns1/ClassA.m',
'+ns1/ClassB.m',
'+ns2/+ns3/ClassB.m',
'+ns2/aGlobalFunction.m',
'+ns2/ClassA.m',
'+ns2/ClassC.m',
'+ns2/overloadedGlobalFunction.m',
'ClassD.m',
'+gtsam/Values.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_class(self):
"""Test interface file with only class info."""
file = osp.join(self.INTERFACE_DIR, 'class.i')
wrapper = MatlabWrapper(
module_name='class',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'class_wrapper.cpp',
'FunDouble.m',
'FunRange.m',
'MultipleTemplatesIntDouble.m',
'MultipleTemplatesIntFloat.m',
'MyFactorPosePoint2.m',
'MyVector3.m',
'MyVector12.m',
'PrimitiveRefDouble.m',
'Test.m',
'ForwardKinematics.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_multiple_files(self):
"""
Test for when multiple interface files are specified.
"""
file1 = osp.join(self.INTERFACE_DIR, 'part1.i')
file2 = osp.join(self.INTERFACE_DIR, 'part2.i')
wrapper = MatlabWrapper(
module_name='multiple_files',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file1, file2], path=self.MATLAB_ACTUAL_DIR)
files = [
'multiple_files_wrapper.cpp',
'+gtsam/Class1.m',
'+gtsam/Class2.m',
'+gtsam/ClassA.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_functions(self):
"""Test interface file with function info."""
file = osp.join(self.INTERFACE_DIR, 'functions.i')
wrapper = MatlabWrapper(
module_name='functions',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'functions_wrapper.cpp',
'aGlobalFunction.m',
'load2D.m',
'MultiTemplatedFunctionDoubleSize_tDouble.m',
'MultiTemplatedFunctionStringSize_tDouble.m',
'overloadedGlobalFunction.m',
'TemplatedFunctionRot3.m',
'DefaultFuncInt.m',
'DefaultFuncObj.m',
'DefaultFuncString.m',
'DefaultFuncVector.m',
'DefaultFuncZero.m',
'setPose.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_special_cases(self):
"""
Tests for some unique, non-trivial features.
"""
with open(osp.join(self.INTERFACE_DIR, 'special_cases.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
wrapper = MatlabWrapper(
module_name='special_cases',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
files = [
'special_cases_wrapper.cpp',
'+gtsam/PinholeCameraCal3Bundler.m',
'+gtsam/NonlinearFactorGraph.m',
]
for file in files:
self.compare_and_diff(file)
def test_namespaces(self):
"""
Test interface file with full namespace definition.
"""
with open(osp.join(self.INTERFACE_DIR, 'namespaces.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
wrapper = MatlabWrapper(
module_name='namespaces',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
files = [
'namespaces_wrapper.cpp', '+ns1/aGlobalFunction.m',
'+ns1/ClassA.m', '+ns1/ClassB.m', '+ns2/+ns3/ClassB.m',
'+ns2/aGlobalFunction.m', '+ns2/ClassA.m', '+ns2/ClassC.m',
'+ns2/overloadedGlobalFunction.m', 'ClassD.m'
]
for file in files:
self.compare_and_diff(file)
def test_inheritance(self):
"""Test interface file with class inheritance definitions."""
with open(osp.join(self.INTERFACE_DIR, 'inheritance.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
wrapper = MatlabWrapper(
module_name='inheritance',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
files = [
'inheritance_wrapper.cpp', 'MyBase.m', 'MyTemplateMatrix.m',
'MyTemplatePoint2.m'
]
for file in files:
self.compare_and_diff(file)
def test_class(self):
"""Test interface file with only class info."""
with open(osp.join(self.INTERFACE_DIR, 'class.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
wrapper = MatlabWrapper(
module_name='class',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
files = [
'class_wrapper.cpp', 'FunDouble.m', 'FunRange.m',
'MultipleTemplatesIntDouble.m', 'MultipleTemplatesIntFloat.m',
'MyFactorPosePoint2.m', 'MyVector3.m', 'MyVector12.m',
'PrimitiveRefDouble.m', 'Test.m'
]
for file in files:
self.compare_and_diff(file)
def test_functions(self):
"""Test interface file with function info."""
with open(osp.join(self.INTERFACE_DIR, 'functions.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
wrapper = MatlabWrapper(
module_name='functions',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
files = [
'functions_wrapper.cpp', 'aGlobalFunction.m', 'load2D.m',
'MultiTemplatedFunctionDoubleSize_tDouble.m',
'MultiTemplatedFunctionStringSize_tDouble.m',
'overloadedGlobalFunction.m', 'TemplatedFunctionRot3.m'
]
for file in files:
self.compare_and_diff(file)
def test_geometry(self):
"""
Check generation of matlab geometry wrapper.
python3 wrap/matlab_wrapper.py --src wrap/tests/geometry.h
--module_name geometry --out wrap/tests/actual-matlab
"""
with open(osp.join(self.INTERFACE_DIR, 'geometry.i'), 'r') as f:
content = f.read()
if not osp.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
# Create MATLAB wrapper instance
wrapper = MatlabWrapper(
module_name='geometry',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap(content)
self.generate_content(cc_content)
self.assertTrue(osp.isdir(osp.join(self.MATLAB_ACTUAL_DIR, '+gtsam')))
files = ['+gtsam/Point2.m', '+gtsam/Point3.m', 'geometry_wrapper.cpp']
for file in files:
self.compare_and_diff(file)
def test_geometry_matlab(self):
""" Check generation of matlab geometry wrapper.
python3 wrap/matlab_wrapper.py --src wrap/tests/geometry.h
--module_name geometry --out wrap/tests/actual-matlab
"""
with open(self.TEST_DIR + 'geometry.h', 'r') as f:
content = f.read()
if not os.path.exists(self.MATLAB_ACTUAL_DIR):
os.mkdir(self.MATLAB_ACTUAL_DIR)
module = parser.Module.parseString(content)
instantiator.instantiate_namespace_inplace(module)
# Create MATLAB wrapper instance
wrapper = MatlabWrapper(
module=module,
module_name='geometry',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
cc_content = wrapper.wrap()
self.generate_content(cc_content)
def compare_and_diff(file):
output = self.MATLAB_ACTUAL_DIR + file
expected = self.MATLAB_TEST_DIR + file
success = filecmp.cmp(output, expected)
if not success:
print("Differ in file: {}".format(file))
os.system("diff {} {}".format(output, expected))
self.assertTrue(success)
self.assertTrue(os.path.isdir(self.MATLAB_ACTUAL_DIR + '+gtsam'))
files = [
'+gtsam/Point2.m',
'+gtsam/Point3.m',
'Test.m',
'MyBase.m',
'load2D.m',
'MyTemplatePoint2.m',
'MyTemplateMatrix.m',
'MyVector3.m',
'MyVector12.m',
'MyFactorPosePoint2.m',
'aGlobalFunction.m',
'overloadedGlobalFunction.m',
'geometry_wrapper.cpp'
]
for file in files:
compare_and_diff(file)
def test_templates(self):
"""Test interface file with template info."""
file = osp.join(self.INTERFACE_DIR, 'templates.i')
wrapper = MatlabWrapper(
module_name='template',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'template_wrapper.cpp', 'ScopedTemplateResult.m',
'TemplatedConstructor.m'
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_inheritance(self):
"""Test interface file with class inheritance definitions."""
file = osp.join(self.INTERFACE_DIR, 'inheritance.i')
wrapper = MatlabWrapper(
module_name='inheritance',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'inheritance_wrapper.cpp',
'MyBase.m',
'MyTemplateMatrix.m',
'MyTemplatePoint2.m',
'ForwardKinematicsFactor.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_geometry(self):
"""
Check generation of matlab geometry wrapper.
python3 wrap/matlab_wrapper.py --src wrap/tests/geometry.h
--module_name geometry --out wrap/tests/actual-matlab
"""
file = osp.join(self.INTERFACE_DIR, 'geometry.i')
# Create MATLAB wrapper instance
wrapper = MatlabWrapper(
module_name='geometry',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = ['+gtsam/Point2.m', '+gtsam/Point3.m', 'geometry_wrapper.cpp']
self.assertTrue(osp.isdir(osp.join(self.MATLAB_ACTUAL_DIR, '+gtsam')))
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
def test_special_cases(self):
"""
Tests for some unique, non-trivial features.
"""
file = osp.join(self.INTERFACE_DIR, 'special_cases.i')
wrapper = MatlabWrapper(
module_name='special_cases',
top_module_namespace=['gtsam'],
ignore_classes=[''],
)
wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
files = [
'special_cases_wrapper.cpp',
'+gtsam/GeneralSFMFactorCal3Bundler.m',
'+gtsam/NonlinearFactorGraph.m',
'+gtsam/PinholeCameraCal3Bundler.m',
'+gtsam/SfmTrack.m',
]
for file in files:
actual = osp.join(self.MATLAB_ACTUAL_DIR, file)
self.compare_and_diff(file, actual)
"For example, `import <module_name>` gives you access to a Python "
"`<module_name>.Class` of the corresponding C++ `ns1::ns2::ns3::Class`"
", and `from <module_name> import ns4` gives you access to a Python "
"`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ")
arg_parser.add_argument(
"--ignore",
nargs='*',
type=str,
help="A space-separated list of classes to ignore. "
"Class names must include their full namespaces.")
args = arg_parser.parse_args()
top_module_namespaces = args.top_module_namespaces.split("::")
if top_module_namespaces[0]:
top_module_namespaces = [''] + top_module_namespaces
with open(args.src, 'r') as f:
content = f.read()
if not os.path.exists(args.src):
os.mkdir(args.src)
print("Ignoring classes: {}".format(args.ignore), file=sys.stderr)
wrapper = MatlabWrapper(module_name=args.module_name,
top_module_namespace=top_module_namespaces,
ignore_classes=args.ignore)
cc_content = wrapper.wrap(content)
generate_content(cc_content, args.out)
type=str,
default="",
help="C++ namespace for the top module, e.g. `ns1::ns2::ns3`. "
"Only the content within this namespace and its sub-namespaces "
"will be wrapped. The content of this namespace will be available at "
"the top module level, and its sub-namespaces' in the submodules.\n"
"For example, `import <module_name>` gives you access to a Python "
"`<module_name>.Class` of the corresponding C++ `ns1::ns2::ns3::Class`"
", and `from <module_name> import ns4` gives you access to a Python "
"`ns4.Class` of the C++ `ns1::ns2::ns3::ns4::Class`. ")
arg_parser.add_argument(
"--ignore",
nargs='*',
type=str,
help="A space-separated list of classes to ignore. "
"Class names must include their full namespaces.")
args = arg_parser.parse_args()
top_module_namespaces = args.top_module_namespaces.split("::")
if top_module_namespaces[0]:
top_module_namespaces = [''] + top_module_namespaces
print("[MatlabWrapper] Ignoring classes: {}".format(args.ignore),
file=sys.stderr)
wrapper = MatlabWrapper(module_name=args.module_name,
top_module_namespace=top_module_namespaces,
ignore_classes=args.ignore)
sources = args.src.split(';')
cc_content = wrapper.wrap(sources, path=args.out)