export_function.cpp

Go to the documentation of this file.

/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado/code_generation/export_function.hpp>
#include <acado/code_generation/export_function_call.hpp>

using namespace std;

BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

ExportFunction::ExportFunction( const std::string& _name,
                                                                const ExportArgument& _argument1,
                                                                const ExportArgument& _argument2,
                                                                const ExportArgument& _argument3,
                                                                const ExportArgument& _argument4,
                                                                const ExportArgument& _argument5,
                                                                const ExportArgument& _argument6,
                                                                const ExportArgument& _argument7,
                                                                const ExportArgument& _argument8,
                                                                const ExportArgument& _argument9
                                                                ) : ExportStatementBlock( )
{
        returnAsPointer = false;
        flagPrivate = false;

        memAllocator = MemoryAllocatorPtr( new MemoryAllocator );

        init( _name,_argument1,_argument2,_argument3,
                                _argument4,_argument5,_argument6,
                                _argument7,_argument8,_argument9 );
}

ExportFunction::~ExportFunction( )
{}

ExportStatement* ExportFunction::clone( ) const
{
        return new ExportFunction(*this);
}

returnValue ExportFunction::init(       const std::string& _name,
                                                                        const ExportArgument& _argument1,
                                                                        const ExportArgument& _argument2,
                                                                        const ExportArgument& _argument3,
                                                                        const ExportArgument& _argument4,
                                                                        const ExportArgument& _argument5,
                                                                        const ExportArgument& _argument6,
                                                                        const ExportArgument& _argument7,
                                                                        const ExportArgument& _argument8,
                                                                        const ExportArgument& _argument9
                                                                        )
{
        ExportStatementBlock::clear( );
        clear( );

        setName( fcnPrefix + "_" + _name );

        addArgument(    _argument1,_argument2,_argument3,
                                        _argument4,_argument5,_argument6,
                                        _argument7,_argument8,_argument9 );

        return SUCCESSFUL_RETURN;
}


ExportFunction& ExportFunction::setup(  const std::string& _name,
                                                                                const ExportArgument& _argument1,
                                                                                const ExportArgument& _argument2,
                                                                                const ExportArgument& _argument3,
                                                                                const ExportArgument& _argument4,
                                                                                const ExportArgument& _argument5,
                                                                                const ExportArgument& _argument6,
                                                                                const ExportArgument& _argument7,
                                                                                const ExportArgument& _argument8,
                                                                                const ExportArgument& _argument9
                                                                                )
{
        init(   _name,
                        _argument1,_argument2,_argument3,
                        _argument4,_argument5,_argument6,
                        _argument7,_argument8,_argument9 );

        return *this;
}



returnValue ExportFunction::addArgument(        const ExportArgument& _argument1,
                                                                                        const ExportArgument& _argument2,
                                                                                        const ExportArgument& _argument3,
                                                                                        const ExportArgument& _argument4,
                                                                                        const ExportArgument& _argument5,
                                                                                        const ExportArgument& _argument6,
                                                                                        const ExportArgument& _argument7,
                                                                                        const ExportArgument& _argument8,
                                                                                        const ExportArgument& _argument9
                                                                                        )
{
        return functionArguments.addArgument(   _argument1,_argument2,_argument3,
                                                                                        _argument4,_argument5,_argument6,
                                                                                        _argument7,_argument8,_argument9 );
}



ExportFunction& ExportFunction::setReturnValue( const ExportVariable& _functionReturnValue,
                                                                                                bool _returnAsPointer
                                                                                                )
{
        retVal = deepcopy( _functionReturnValue );
        returnAsPointer = _returnAsPointer;

        return *this;
}


ExportFunction& ExportFunction::setName(        const std::string& _name
                                                                                        )
{
        if ( _name.empty() == true )
                ACADOERROR( RET_INVALID_ARGUMENTS );

        name = _name;
        
        return *this;
}


std::string ExportFunction::getName( ) const
{
        return name;
}



returnValue ExportFunction::exportDataDeclaration(      std::ostream& stream,
                                                                                                        const std::string& _realString,
                                                                                                        const std::string& _intString,
                                                                                                        int _precision
                                                                                                        ) const
{
        return SUCCESSFUL_RETURN;
}


returnValue ExportFunction::exportForwardDeclaration(   std::ostream& stream,
                                                                                                                const std::string& _realString,
                                                                                                                const std::string& _intString,
                                                                                                                int _precision
                                                                                                                ) const
{
        // do not export undefined (empty) functions
        if (isDefined() == false)
                return SUCCESSFUL_RETURN;

        if (flagPrivate == true)
                return SUCCESSFUL_RETURN;

        if (description.empty() == false)
        {
                stream <<  "\n/** " << description;

                if (functionArguments.getNumArguments() > 0)
                {
                        vector< ExportArgument > args = functionArguments.get();

                        stream << "\n *\n";

                        for (unsigned i = 0; i < args.size(); ++i)
                        {
                                if (args[ i ].isGiven() == true || args[ i ].getDoc().empty() == true)
                                        continue;

                                stream << " *  \\param " << args[ i ].getName() << " " << args[ i ].getDoc() << endl;
                        }
                }
                else
                {
                        stream << "\n";
                }

                if (retVal.getDim())
                {
                        std::string tmp = retVal.getDoc();
                        if (tmp.empty() == false)
                                stream << " *\n *  \\return " << tmp << endl;
                }
                stream << " */\n";
        }


        if (retVal.getDim())
        {
                stream << retVal.getTypeString(_realString, _intString);
                if ( returnAsPointer == true )
                        stream << "*";
        }
        else
        {
                stream << "void";
        }

        stream << " " << name << "( ";
        functionArguments.exportCode(stream, _realString, _intString, _precision);
        stream << " );\n";

        return SUCCESSFUL_RETURN;
}


returnValue ExportFunction::exportCode( std::ostream& stream,
                                                                                const std::string& _realString,
                                                                                const std::string& _intString,
                                                                                int _precision
                                                                                ) const
{
        //
        // Do not export undefined (empty) functions
        //
        if ( isDefined() == false )
                return SUCCESSFUL_RETURN;

        //
        // Set return value type
        //
        if (retVal.getDim())
        {
                stream << retVal.getTypeString(_realString, _intString);
                if ( returnAsPointer == true )
                        stream << "*";
        }
        else
        {
                stream << "void";
        }
        
        stream << " " << name << "( ";
        functionArguments.exportCode(stream, _realString, _intString, _precision);
        stream << " )\n{\n";

        if (retVal.getDataStruct() == ACADO_LOCAL)
                retVal.exportDataDeclaration(stream, _realString, _intString, _precision);

        //
        // Set parent pointers, and run memory allocation
        //
        StatementPtrArray::const_iterator it = statements.begin();
        for(; it != statements.end(); ++it)
                (*it)->allocate( memAllocator );

        //
        // Open a temporary file and export statements to the temporary file
        //
        stringstream ss;
        ExportStatementBlock::exportCode(ss, _realString, _intString, _precision);

        //
        // Export local indices (allocated previously)
        //
        const std::vector< ExportIndex > indices = memAllocator->getPool();
        for (unsigned i = 0; i < indices.size(); ++i)
                indices[ i ].exportDataDeclaration(stream, _realString, _intString, _precision);

        //
        // Export local variables -- still done in a very primitive way
        //
        for(unsigned i = 0; i < localVariables.size(); ++i)
                localVariables[ i ].exportDataDeclaration(stream, _realString, _intString, _precision);

        //
        // Copy temporary file to main file, and close te temporary file aftwarards
        //
        stream << ss.str();

        //
        // Finish the export of the function
        //
        if (retVal.getDim())
                stream << "return " <<  retVal.getFullName() << ";\n";
        stream << "}\n\n";

        return SUCCESSFUL_RETURN;
}


bool ExportFunction::isDefined( ) const
{
        if (name.empty() == false && (getNumStatements( ) > 0 || retVal.getDim() > 0))
                return true;

        return false;
}


unsigned ExportFunction::getNumArguments( ) const
{
        return functionArguments.getNumArguments( );
}


//
// PROTECTED MEMBER FUNCTIONS:
//

returnValue ExportFunction::clear( )
{
        returnAsPointer = false;

        return SUCCESSFUL_RETURN;
}

ExportFunction& ExportFunction::addIndex(const ExportIndex& _index)
{
        memAllocator->add( _index );

        return *this;
}

ExportFunction& ExportFunction::acquire(ExportIndex& obj)
{
        memAllocator->acquire( obj );

        return *this;
}

ExportFunction& ExportFunction::release(const ExportIndex& obj)
{
        memAllocator->release( obj );

        return *this;
}

ExportFunction& ExportFunction::addVariable(const ExportVariable& _var)
{
        localVariables.push_back( _var );

        return *this;
}

ExportFunction& ExportFunction::doc(const std::string& _doc)
{
        description = _doc;

        return *this;
}

ExportFunction& ExportFunction::setPrivate(bool _set)
{
        flagPrivate = _set;

        return *this;
}

bool ExportFunction::isPrivate() const
{
        return flagPrivate;
}

CLOSE_NAMESPACE_ACADO

// end of file.