Merging 'master' into 'wrap'

wrap/.github/workflows/linux-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.6, 3.7, 3.8, 3.9]
+        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/.github/workflows/macos-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.6, 3.7, 3.8, 3.9]
+        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/DOCS.md

@@ -100,7 +100,8 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
         ```
 
 - Using classes defined in other modules
-    - If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error. `OtherClass` should be in the same project.
+    - If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error.
+    - `OtherClass` may not be in the same project. If this is the case, include the header for the appropriate project `#include <other_project/OtherClass.h>`.
 
 - Virtual inheritance
     - Specify fully-qualified base classes, i.e. `virtual class Derived : ns::Base {` where `ns` is the namespace.

wrap/gtwrap/interface_parser/classes.py

@@ -189,7 +189,7 @@ def __init__(self,
 
         # Check to ensure arg and return type are the same.
         if len(args) == 1 and self.operator not in ("()", "[]"):
-            assert args.args_list[0].ctype.typename.name == return_type.type1.typename.name, \
+            assert args.list()[0].ctype.typename.name == return_type.type1.typename.name, \
                 "Mixed type overloading not supported. Both arg and return type must be the same."
 
     def __repr__(self) -> str:

wrap/gtwrap/interface_parser/declaration.py

@@ -15,6 +15,7 @@
 from .tokens import (CLASS, COLON, INCLUDE, LOPBRACK, ROPBRACK, SEMI_COLON,
                      VIRTUAL)
 from .type import Typename
+from .utils import collect_namespaces
 
 
 class Include:
@@ -42,11 +43,12 @@ class ForwardDeclaration:
                 t.name, t.parent_type, t.is_virtual))
 
     def __init__(self,
-                 name: Typename,
+                 typename: Typename,
                  parent_type: str,
                  is_virtual: str,
                  parent: str = ''):
-        self.name = name
+        self.name = typename.name
+        self.typename = typename
         if parent_type:
             self.parent_type = parent_type
         else:
@@ -55,6 +57,9 @@ def __init__(self,
         self.is_virtual = is_virtual
         self.parent = parent
 
+    def namespaces(self) -> list:
+        """Get the namespaces which this class is nested under as a list."""
+        return collect_namespaces(self)
+
     def __repr__(self) -> str:
-        return "ForwardDeclaration: {} {}({})".format(self.is_virtual,
-                                                      self.name, self.parent)
+        return "ForwardDeclaration: {} {}".format(self.is_virtual, self.name)

wrap/gtwrap/interface_parser/function.py

@@ -29,11 +29,13 @@ class Argument:
     void sayHello(/*`s` is the method argument with type `const string&`*/ const string& s);
     ```
     """
-    rule = ((Type.rule ^ TemplatedType.rule)("ctype") + IDENT("name") + \
-            Optional(EQUAL + (DEFAULT_ARG ^ Type.rule ^ TemplatedType.rule) + \
-                Optional(LPAREN + RPAREN)  # Needed to parse the parens for default constructors
-                )("default")
-            ).setParseAction(lambda t: Argument(t.ctype, t.name, t.default))
+    rule = ((Type.rule ^ TemplatedType.rule)("ctype")  #
+            + IDENT("name")  #
+            + Optional(EQUAL + DEFAULT_ARG)("default")
+            ).setParseAction(lambda t: Argument(
+                t.ctype,  #
+                t.name,  #
+                t.default[0] if isinstance(t.default, ParseResults) else None))
 
     def __init__(self,
                  ctype: Union[Type, TemplatedType],
@@ -44,18 +46,8 @@ def __init__(self,
         else:
             self.ctype = ctype
         self.name = name
-        # If the length is 1, it's a regular type,
-        if len(default) == 1:
-            default = default[0]
-        # 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
+        self.parent = None  # type: Union[ArgumentList, None]
 
     def __repr__(self) -> str:
         return self.to_cpp()
@@ -94,10 +86,14 @@ def __repr__(self) -> str:
     def __len__(self) -> int:
         return len(self.args_list)
 
-    def args_names(self) -> List[str]:
+    def names(self) -> List[str]:
         """Return a list of the names of all the arguments."""
         return [arg.name for arg in self.args_list]
 
+    def list(self) -> List[Argument]:
+        """Return a list of the names of all the arguments."""
+        return self.args_list
+
     def to_cpp(self, use_boost: bool) -> List[str]:
         """Generate the C++ code for wrapping."""
         return [arg.ctype.to_cpp(use_boost) for arg in self.args_list]

wrap/gtwrap/interface_parser/namespace.py

@@ -102,7 +102,7 @@ def find_class_or_function(
         res = []
         for namespace in found_namespaces:
             classes_and_funcs = (c for c in namespace.content
-                                 if isinstance(c, (Class, GlobalFunction)))
+                                 if isinstance(c, (Class, GlobalFunction, ForwardDeclaration)))
             res += [c for c in classes_and_funcs if c.name == typename.name]
         if not res:
             raise ValueError("Cannot find class {} in module!".format(

wrap/gtwrap/interface_parser/tokens.py

@@ -10,9 +10,9 @@
 Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
 """
 
-from pyparsing import (Keyword, Literal, Or, QuotedString, Suppress, Word,
-                       alphanums, alphas, delimitedList, nums,
-                       pyparsing_common)
+from pyparsing import (Keyword, Literal, OneOrMore, Or, QuotedString, Suppress,
+                       Word, alphanums, alphas, nestedExpr, nums,
+                       originalTextFor, printables)
 
 # rule for identifiers (e.g. variable names)
 IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)
@@ -22,16 +22,20 @@
 LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;")
 LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=")
 
-# Encapsulating type for numbers, and single and double quoted strings.
-# The pyparsing_common utilities ensure correct coversion to the corresponding type.
-# E.g. pyparsing_common.number will convert 3.1415 to a float type.
-NUMBER_OR_STRING = (pyparsing_common.number ^ QuotedString('"') ^ QuotedString("'"))
-
-# A python tuple, e.g. (1, 9, "random", 3.1415)
-TUPLE = (LPAREN + delimitedList(NUMBER_OR_STRING) + RPAREN)
-
 # Default argument passed to functions/methods.
-DEFAULT_ARG = (NUMBER_OR_STRING ^ pyparsing_common.identifier ^ TUPLE)
+# Allow anything up to ',' or ';' except when they
+# appear inside matched expressions such as
+# (a, b) {c, b} "hello, world", templates, initializer lists, etc.
+DEFAULT_ARG = originalTextFor(
+    OneOrMore(
+        QuotedString('"') ^  # parse double quoted strings
+        QuotedString("'") ^  # parse single quoted strings
+        Word(printables, excludeChars="(){}[]<>,;") ^  # parse arbitrary words
+        nestedExpr(opener='(', closer=')') ^  # parse expression in parentheses
+        nestedExpr(opener='[', closer=']') ^  # parse expression in brackets
+        nestedExpr(opener='{', closer='}') ^  # parse expression in braces
+        nestedExpr(opener='<', closer='>')  # parse template expressions
+    ))
 
 CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map(
     Keyword,

wrap/gtwrap/interface_parser/variable.py

@@ -12,7 +12,7 @@
 
 from pyparsing import Optional, ParseResults
 
-from .tokens import DEFAULT_ARG, EQUAL, IDENT, SEMI_COLON, STATIC
+from .tokens import DEFAULT_ARG, EQUAL, IDENT, SEMI_COLON
 from .type import TemplatedType, Type
 
 
@@ -32,10 +32,12 @@ class Hello {
     """
     rule = ((Type.rule ^ TemplatedType.rule)("ctype")  #
             + IDENT("name")  #
-            #TODO(Varun) Add support for non-basic types
-            + Optional(EQUAL + (DEFAULT_ARG))("default")  #
+            + Optional(EQUAL + DEFAULT_ARG)("default")  #
             + SEMI_COLON  #
-            ).setParseAction(lambda t: Variable(t.ctype, t.name, t.default))
+            ).setParseAction(lambda t: Variable(
+                t.ctype,  #
+                t.name,  #
+                t.default[0] if isinstance(t.default, ParseResults) else None))
 
     def __init__(self,
                  ctype: Type,
@@ -44,11 +46,7 @@ def __init__(self,
                  parent=''):
         self.ctype = ctype[0]  # ParseResult is a list
         self.name = name
-        if default:
-            self.default = default[0]
-        else:
-            self.default = None
-
+        self.default = default
         self.parent = parent
 
     def __repr__(self) -> str: