void parse_options() {
// Parse command line options, and update the environment to match the
// specified options.
argp->usage(
"Usage: jgdoc [OPTIONS] FILE...\n"
"Generates documentation from comments found in Jogo source files.\n\n"
" -o, --output DIR Write output to DIR.\n"
" -i, --include DIR Add the directory DIR to the search path.\n"
" -h, --help Print this help message.\n"
" -f, --format FORMAT Set output format to FORMAT.\n"
" -v, --verbose Print extra information.\n"
" --version Print the compiler version number.\n");
for (ArgToken tok = argp->next(); tok; tok = argp->next()) {
// Convert abbreviated flags into the longer descriptive form (e.g.,
// convert -p to --path)
if (ArgToken::SHORT == tok.type()) {
parse_short_option(tok.value());
} else if (ArgToken::LONG == tok.type()) {
parse_option(tok.value());
} else {
env->input(tok.value());
}
}
std::string gen = env->generator();
if (gen != "Markdown") {
argp->error("Invalid output format (options: Markdown");
}
}
void load_options() {
// Loads options from the options file. FIXME: This settings file loader
// is pretty haggard. It should be replaced with JSON.
std::ifstream opts(".jgmake");
int c = opts.get();
while (c != '\n' && !opts.fail()) {
std::string include;
while (c != ',' && c != '\n' && !opts.fail()) {
include += c;
c = opts.get();
}
env->include(include);
c = opts.get();
}
c = opts.get();
while (c != '\n' && !opts.fail()) {
std::string lib;
while (c != ',' && c != '\n' && !opts.fail()) {
lib += c;
c = opts.get();
}
env->lib(lib);
c = opts.get();
}
}
SchemeObject* SchemeObjectCreator::make_environment() {
Environment::Ptr env = std::make_shared<Environment>();
setup_environment(env.get());
SchemeObject* obj = new SchemeEnvironment(env);
SchemeGarbageCollector::the_gc().add(obj);
return obj;
}
void save_options() {
// Saves options to the options file.
std::ofstream opts(".jgmake");
for (int i = 0; i < env->includes(); ++i) {
opts << env->include(i) << ",";
}
opts << std::endl;
for (int i = 0; i < env->libs(); ++i) {
opts << env->lib(i) << ",";
}
opts << std::endl;
}
void parse_option(std::string const& flag) {
if ("output" == flag) {
env->output(argp->required_arg());
} else if ("include" == flag) {
env->include(argp->required_arg());
} else if ("format" == flag) {
env->generator(argp->required_arg());
} else if ("verbose" == flag) {
env->verbose(true);
} else {
argp->bad_option(flag);
}
}
int main(int argc, char** argv) {
// This program recursively finds and builds all files in the source
// directory, and then generates the output in the lib/bin directory.
env->workspace_load();
env->output(".");
env->make(true);
env->monolithic_build(false);
argp = new ArgParser(env, argc, argv);
load_options();
parse_options();
save_options();
Builder::Ptr builder(new Builder(env));
return builder->errors();
}
void parse_options() {
// Parse command line options, and update the environment to match the
// specified options.
argp->usage(
"Usage: jogo [OPTIONS] FILE...\n\n"
"Compiles Jogo source files into a library or executable.\n\n"
" -a, --assembly Compile, but do not assemble or link.\n"
" -c, --compile Compile and assemble, but do not link.\n"
" -e, --execute Execute program as a script.\n"
" -d, --debug Emit debug information.\n"
" -l, --library LIB Compile and link with native library LIB.\n"
" -i, --include DIR Add the directory DIR to the search path.\n"
" -o, --output FILE Write compiler output to FILE.\n"
" -m, --make Compile input files and out-of-date dependencies.\n"
" -h, --help Print this help message.\n"
" -v, --verbose Print extra information during compilation.\n"
" -g, --generator GEN Use code generator GEN.\n"
" --build-dir DIR Output directory for object files.\n"
" --dump-ir Output the intermediate representation.\n"
" --dump-ast Output the abstract syntax tree.\n"
" --dump-liveness Output liveness info when printing the IR.\n"
" --dump-regalloc Dump register allocations.\n"
" --dump-reggraph Dump register interference graphs.\n"
" --version Print the compiler version number.\n");
for (ArgToken tok = argp->next(); tok; tok = argp->next()) {
// Convert abbreviated flags into the longer descriptive form (e.g.,
// convert -p to --path)
if (ArgToken::SHORT == tok.type()) {
parse_short_option(tok.value());
} else if (ArgToken::LONG == tok.type()) {
parse_option(tok.value());
} else {
env->input(tok.value());
}
}
std::string gen = env->generator();
if (gen != "Intel64" && gen != "C" && gen != "Nasm64") {
argp->error("Invalid code generator (options: Intel64, NAsm64, C)");
}
if (!env->inputs()) {
argp->error("No input files.");
}
}
void parse_option(std::string const& flag) {
if ("library" == flag) {
env->lib(argp->required_arg());
} else if ("include" == flag) {
env->include(argp->required_arg());
} else if ("generator" == flag) {
env->generator(argp->required_arg());
} else if ("debug" == flag) {
env->debug(true);
} else if ("optimize" == flag) {
env->optimize(true);
} else if ("verbose" == flag) {
env->verbose(true);
} else if ("clean" == flag) {
clean(env->build_dir());
clean("bin");
clean("lib");
exit(0);
} else if ("reset" == flag) {
File::unlink(".jgmake");
exit(0);
} else {
argp->bad_option(flag);
}
}
int main(int argc, char** argv) {
// Create a new empty environment to store the AST and symbols tables, and
// set the options for compilation.
argp = new ArgParser(env, argc, argv);
env->output("doc");
env->generator("Markdown");
parse_options();
File::mkdir(env->output());
env->workspace_load();
// Run the compiler. Output to a temporary file if the compiler will
// continue on to another stage; otherwise, output the file directly.
Parser::Ptr parser(new Parser(env));
SemanticAnalyzer::Ptr semant(new SemanticAnalyzer(env));
MarkdownGenerator::Ptr md(new MarkdownGenerator(env));
return 0;
}
void parse_options() {
// Parse command line options, and update the environment to match the
// specified options.
argp->usage(
"Usage: jgmake [OPTIONS] PACKAGE...\n\n"
"Builds a Jogo project from the current working directory. Source files should\n"
"be under ./src; output files go to ./build, ./lib, ./bin, and ./doc. Options\n"
"given to jgmake are recorded. After an option is set, it will remain set the\n"
"next time jgmake is run.\n\n"
" -l, --library LIB Compile and link with native library LIB.\n"
" -i, --include DIR Add the directory DIR to the search path.\n"
" -d, --debug Emit debug information.\n"
" -o, --optimize Enable compiler optimizations.\n"
" -g, --generator GEN Use code generator GEN.\n"
" -h, --help Print this help message.\n"
" -v, --verbose Print extra information during compilation.\n"
" -r, --reset Erase all build options.\n"
" -c, --clean Remove all output directories.\n"
" --version Print the program version number.\n");
for (ArgToken tok = argp->next(); tok; tok = argp->next()) {
// Convert abbreviated flags into the longer descriptive form (e.g.,
// convert -p to --path)
if (ArgToken::SHORT == tok.type()) {
parse_short_option(tok.value());
} else if (ArgToken::LONG == tok.type()) {
parse_option(tok.value());
} else {
env->input(tok.value());
}
}
std::string gen = env->generator();
if (gen != "Intel64" && gen != "C" && gen != "Nasm64") {
argp->error("Invalid code generator (options: Intel64, Nasm64, C)");
}
}
void clean(std::string const& dir) {
for(File::Iterator i(dir);i;++i) {
std::string const path = dir + FILE_SEPARATOR + (*i);
if((*i) == "." || (*i) == "..") {
// Do nothing
} else if(File::is_dir(path)) {
clean(path);
} else {
if (env->verbose()) {
std::cout << "Removing " << path << std::endl;
}
File::unlink(path);
}
}
}
void parse_option(std::string const& flag) {
// Parses an option and all the corresponding arguments to that option.
if ("verbose" == flag) {
env->verbose(true);
} else if ("optimize" == flag) {
env->optimize(true);
} else if ("assembly" == flag) {
env->assemble(false);
env->link(false);
} else if ("compile" == flag) {
env->link(false);
} else if ("make" == flag) {
env->make(true);
} else if ("debug" == flag) {
env->debug(true);
} else if ("dump-ir" == flag) {
env->dump_ir(true);
} else if ("dump-ast" == flag) {
env->dump_ast(true);
} else if ("dump-lex" == flag) {
env->dump_lex(true);
} else if ("dump-liveness" == flag) {
env->dump_liveness(true);
} else if ("dump-regalloc" == flag) {
env->dump_regalloc(true);
} else if ("dump-reggraph" == flag) {
env->dump_reggraph(true);
} else if ("execute" == flag) {
env->execute(true);
} else if ("no-default-libs" == flag) {
env->no_default_libs(true);
// Debugger flag that prevents default modules from getting
// loaded automatically by the parser.
} else if ("include" == flag) {
env->include(argp->required_arg());
} else if ("output" == flag) {
env->output(argp->required_arg());
} else if ("build-dir" == flag) {
env->build_dir(argp->required_arg());
} else if ("library" == flag) {
env->lib(argp->required_arg());
} else if ("generator" == flag) {
env->generator(argp->required_arg());
} else {
argp->bad_option(flag);
}
}
/**
* @brief main function
*
* Uses boost program options to read file
* Outputs to _sol.txt file
*/
int main(int argc, char** argv){
//some program options boilerplate
namespace po = boost::program_options;
po::options_description desc("Vanilla Navigation Planner Usage");
desc.add_options()
("vis,v","mode to rewrite the json files into readable format for matlab")
("env,e",po::value<string>()->required(),"input environment json file");
po::variables_map vm;
po::store(po::command_line_parser(argc, argv).options(desc).run(), vm);
po::notify(vm);
//open the json
boost::filesystem::path json_file( vm["env"].as<string>() );
ifstream input_json_file;
if(boost::filesystem::exists(json_file)){
input_json_file.open( json_file.string().c_str() );
}
else{
printf("File \"%s\" does not exist to be read!\n", json_file.string().c_str());
}
if( input_json_file ){
//use the json file to construct the environment
Environment::Ptr env = boost::make_shared<Environment>();
env->readDescription( input_json_file );
input_json_file.close();
if(vm.count("vis")){
boost::filesystem::path parent_dir = json_file.parent_path();
boost::filesystem::path solution_filename(json_file.stem().string()+"_vis.txt");
boost::filesystem::path solution_filepath = parent_dir / solution_filename;
ofstream ofs;
ofs.open( solution_filepath.string().c_str() );
ofs << *env;
ofs.close();
}
else{
//plan on the environment
Graph::Ptr graph = boost::make_shared<Graph>(env);
Planner::Ptr plnr = boost::make_shared<Planner>(env, graph);
vector<GraphState::Ptr> path;
//call planner
bool plannerResult = plnr->plan(path);
if(plannerResult){
//output plan to file
boost::filesystem::path parent_dir = json_file.parent_path();
boost::filesystem::path solution_filename(json_file.stem().string()+"_sol.txt");
boost::filesystem::path solution_filepath = parent_dir / solution_filename;
printf("Writing out solution to: %s\n", solution_filepath.string().c_str());
ofstream ofs;
ofs.open( solution_filepath.string().c_str() );
for(size_t i=0; i<path.size(); i++){
ofs << *(path[i]) << endl;
}
ofs.close();
}
else{
//
cout << "No plan found!" << endl;
}
}
}
return 0;
}
Fork::Fork(const Environment::Ptr parentEnv_, const RaveInstancePtr rave_, BulletInstance::Ptr bullet, OSGInstance::Ptr osg) :
parentEnv(parentEnv_.get()), env(new Environment(bullet, osg)),
rave(rave_) {
copyObjects();
}
