void FLuaScriptCodeGenerator::ExportClass(UClass* Class, const FString& SourceHeaderFilename, const FString& GeneratedHeaderFilename, bool bHasChanged)
{
if (!CanExportClass(Class))
{
return;
}
UE_LOG(LogScriptGenerator, Log, TEXT("Exporting class %s"), *Class->GetName());
ExportedClasses.Add(Class->GetFName());
LuaExportedClasses.Add(Class);
AllSourceClassHeaders.Add(SourceHeaderFilename);
const FString ClassGlueFilename = GetScriptHeaderForClass(Class);
AllScriptHeaders.Add(ClassGlueFilename);
const FString ClassNameCPP = GetClassNameCPP(Class);
FString GeneratedGlue(TEXT("#pragma once\r\n\r\n"));
// Export all functions
for (TFieldIterator<UFunction> FuncIt(Class /*, EFieldIteratorFlags::ExcludeSuper*/); FuncIt; ++FuncIt)
{
UFunction* Function = *FuncIt;
if (CanExportFunction(ClassNameCPP, Class, Function))
{
GeneratedGlue += ExportFunction(ClassNameCPP, Class, Function);
}
}
// Export properties that are owned by this class
int32 PropertyIndex = 0;
for (TFieldIterator<UProperty> PropertyIt(Class /*, EFieldIteratorFlags::ExcludeSuper*/); PropertyIt; ++PropertyIt, ++PropertyIndex)
{
UProperty* Property = *PropertyIt;
if (CanExportProperty(ClassNameCPP, Class, Property))
{
UE_LOG(LogScriptGenerator, Log, TEXT(" %s %s"), *Property->GetClass()->GetName(), *Property->GetName());
GeneratedGlue += ExportProperty(ClassNameCPP, Class, Property, PropertyIndex);
}
}
GeneratedGlue += ExportAdditionalClassGlue(ClassNameCPP, Class);
SaveHeaderIfChanged(ClassGlueFilename, GeneratedGlue);
}
void JSBTypeScript::ExportModuleClasses(const String& moduleName)
{
JSBModule* module = JSBindings::Instance()->GetModuleByName(moduleName);
if (!module->classes_.Size())
return;
source_ += "\n";
for (unsigned i = 0; i < module->classes_.Size(); i++)
{
JSBClass* klass = module->classes_.At(i);
source_ += " export class " + klass->GetName();
if (klass->GetBaseClass())
source_ += " extends " + klass->GetBaseClass()->GetName();
source_ += " {\n\n";
Vector<String> propertyNames;
klass->GetPropertyNames(propertyNames);
for (unsigned j = 0; j < propertyNames.Size(); j++)
{
JSBProperty* prop = klass->GetProperty(propertyNames[j]);
JSBFunctionType* ftype = NULL;
if (prop->getter_ && !prop->getter_->Skip())
{
ftype = prop->getter_->returnType_;
}
else if (prop->setter_ && !prop->setter_->Skip())
ftype = prop->setter_->parameters_[0];
if (!ftype)
continue;
String scriptType = GetScriptType(ftype);
String scriptName = propertyNames[j];
scriptName[0] = tolower(scriptName[0]);
source_ += " " + scriptName + ": " + scriptType + ";\n";
}
if (propertyNames.Size())
source_ += "\n";
JSBFunction* constructor = klass->GetConstructor();
if (constructor)
{
ExportFunction(constructor);
source_ += "\n";
}
for (unsigned j = 0; j < klass->GetFunctionCount(); j++)
{
JSBFunction* func = klass->GetFunction(j);
if (func->isConstructor_ || func->isDestructor_ || func->Skip())
continue;
ExportFunction(func);
}
source_ += "\n }\n\n";
}
source_ += "\n";
}
void JSBHaxe::ExportModuleClasses(JSBModule* module)
{
Vector<SharedPtr<JSBClass>> classes = module->GetClasses();
if (!classes.Size())
return;
source_ += "\n";
for (unsigned i = 0; i < classes.Size(); i++)
{
JSBClass* klass = classes.At(i);
if (klass->IsNumberArray()) {
source_ += "typedef " + klass->GetName() + " = Array<Float>;\n";
continue;
}
source_ += "@:native(\"Atomic." + klass->GetName() + "\")\n";
source_ += "extern class " + klass->GetName();
JSBClass* base = klass->GetBaseClass();
if (base)
{
source_ += " extends " + base->GetName();
}
source_ += " {\n\n";
Vector<String> propertyNames;
klass->GetPropertyNames(propertyNames);
for (unsigned j = 0; j < propertyNames.Size(); j++)
{
JSBProperty* prop = klass->GetProperty(propertyNames[j]);
JSBFunctionType* ftype = NULL;
if (prop->getter_ && !prop->getter_->Skip())
{
ftype = prop->getter_->GetReturnType();
}
else if (prop->setter_ && !prop->setter_->Skip())
ftype = prop->setter_->GetParameters()[0];
if (!ftype)
continue;
String scriptType = GetScriptType(ftype);
String scriptName = prop->GetCasePropertyName();
if (!checkV(klass, scriptName, scriptType)) {
//rename haxe reserved words
if (scriptName == "override") {
scriptName = "overide";
}
if (scriptName == "dynamic") {
scriptName = "dynamik";
}
source_ += " var " + scriptName + ": " + scriptType + ";\n";
}
}
if (propertyNames.Size())
source_ += "\n";
JSBFunction* constructor = klass->GetConstructor();
if (constructor)
{
ExportFunction(constructor);
source_ += "\n";
}
PODVector<JSBFunction*>& functions = klass->GetFunctions();
for (unsigned j = 0; j < functions.Size(); j++)
{
JSBFunction* func = functions[j];
if (func->IsConstructor() || func->IsDestructor() || func->Skip())
continue;
ExportFunction(func);
}
for (unsigned j = 0; j < klass->GetNumHaxeDecl(); j++)
{
source_ += " " + klass->GetHaxeDecl(j) + "\n";
}
source_ += "\n}\n\n";
}
source_ += "\n";
}
void JSBTypeScript::ExportModuleClasses(JSBModule* module)
{
Vector<SharedPtr<JSBClass>> classes = module->GetClasses();
if (!classes.Size())
return;
source_ += "\n";
for (unsigned i = 0; i < classes.Size(); i++)
{
JSBClass* klass = classes.At(i);
source_ += " export class " + klass->GetName();
JSBClass* base = klass->GetBaseClass();
if (base)
{
if (klass->GetPackage() != base->GetPackage())
{
source_ += " extends " + base->GetPackage()->GetName() + "." + base->GetName();
}
else
{
source_ += " extends " + base->GetName();
}
}
source_ += " {\n\n";
Vector<String> propertyNames;
klass->GetPropertyNames(propertyNames);
for (unsigned j = 0; j < propertyNames.Size(); j++)
{
JSBProperty* prop = klass->GetProperty(propertyNames[j]);
JSBFunctionType* ftype = NULL;
if (prop->getter_ && !prop->getter_->Skip())
{
ftype = prop->getter_->GetReturnType();
}
else if (prop->setter_ && !prop->setter_->Skip())
ftype = prop->setter_->GetParameters()[0];
if (!ftype)
continue;
String scriptType = GetScriptType(ftype);
String scriptName = prop->GetCasePropertyName();
source_ += " " + scriptName + ": " + scriptType + ";\n";
}
if (propertyNames.Size())
source_ += "\n";
JSBFunction* constructor = klass->GetConstructor();
if (constructor)
{
ExportFunction(constructor);
source_ += "\n";
}
PODVector<JSBFunction*>& functions = klass->GetFunctions();
for (unsigned j = 0; j < functions.Size(); j++)
{
JSBFunction* func = functions[j];
if (func->IsConstructor() || func->IsDestructor() || func->Skip())
continue;
ExportFunction(func);
}
for (unsigned j = 0; j < klass->GetNumTypeScriptDecl(); j++)
{
source_ += " " + klass->GetTypeScriptDecl(j) + "\n";
}
source_ += "\n }\n\n";
}
source_ += "\n";
}
returnValue DiscreteTimeExport::setup( )
{
int useOMP;
get(CG_USE_OPENMP, useOMP);
ExportStruct structWspace;
structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;
// non equidistant integration grids not implemented for NARX integrators
if( !equidistant ) return ACADOERROR( RET_INVALID_OPTION );
String fileName( "integrator.c" );
int printLevel;
get( PRINTLEVEL,printLevel );
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "--> Preparing to export %s... ",fileName.getName() );
ExportIndex run( "run" );
ExportIndex i( "i" );
ExportIndex j( "j" );
ExportIndex k( "k" );
ExportIndex tmp_index("tmp_index");
uint diffsDim = NX*(NX+NU);
uint inputDim = NX*(NX+NU+1) + NU + NP;
// setup INTEGRATE function
rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, BT_TRUE );
rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
if( equidistantControlGrid() ) {
integrate = ExportFunction( "integrate", rk_eta, reset_int );
}
else {
integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
}
integrate.setReturnValue( error_code );
integrate.addIndex( run );
integrate.addIndex( i );
integrate.addIndex( j );
integrate.addIndex( k );
integrate.addIndex( tmp_index );
rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
}
rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );
ExportVariable numInt( "numInts", 1, 1, INT );
if( !equidistantControlGrid() ) {
ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
integrate.addStatement( String( "int " ) << numInt.getName() << " = " << numStepsV.getName() << "[" << rk_index.getName() << "];\n" );
}
integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
integrate.addLinebreak( );
// integrator loop:
ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
ExportStatementBlock *loop;
if( equidistantControlGrid() ) {
loop = &tmpLoop;
}
else {
loop = &integrate;
loop->addStatement( String("for(") << run.getName() << " = 0; " << run.getName() << " < " << numInt.getName() << "; " << run.getName() << "++ ) {\n" );
}
loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
// Set rk_diffsPrev:
loop->addStatement( String("if( run > 0 ) {\n") );
if( NX1 > 0 ) {
ExportForLoop loopTemp1( i,0,NX1 );
loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,0,NX1 ) == rk_eta.getCols( i*NX+NX+NXA,i*NX+NX+NXA+NX1 ) );
if( NU > 0 ) loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,NX1,NX1+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1),i*NU+(NX+NXA)*(NX+1)+NU ) );
loop->addStatement( loopTemp1 );
}
if( NX2 > 0 ) {
ExportForLoop loopTemp2( i,0,NX2 );
loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,0,NX1+NX2 ) == rk_eta.getCols( i*NX+NX+NXA+NX1*NX,i*NX+NX+NXA+NX1*NX+NX1+NX2 ) );
if( NU > 0 ) loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,NX1+NX2,NX1+NX2+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+NX1*NU,i*NU+(NX+NXA)*(NX+1)+NX1*NU+NU ) );
loop->addStatement( loopTemp2 );
}
loop->addStatement( String("}\n") );
}
// evaluate states:
if( NX1 > 0 ) {
loop->addFunctionCall( lin_input.getName(), rk_xxx, rk_eta.getAddress(0,0) );
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameRHS(), rk_xxx, rk_eta.getAddress(0,NX1) );
}
// evaluate sensitivities:
if( NX1 > 0 ) {
for( uint i1 = 0; i1 < NX1; i1++ ) {
for( uint i2 = 0; i2 < NX1; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,i2,i2+1) == A11(i1,i2) );
}
for( uint i2 = 0; i2 < NU; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,NX1+i2,NX1+i2+1) == B11(i1,i2) );
}
}
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameDiffsRHS(), rk_xxx, rk_diffsNew2.getAddress(0,0) );
}
// computation of the sensitivities using chain rule:
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "if( run == 0 ) {\n" ) );
}
// PART 1
updateInputSystem(loop, i, j, tmp_index);
// PART 2
updateImplicitSystem(loop, i, j, tmp_index);
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "}\n" ) );
loop->addStatement( String( "else {\n" ) );
// PART 1
propagateInputSystem(loop, i, j, k, tmp_index);
// PART 2
propagateImplicitSystem(loop, i, j, k, tmp_index);
loop->addStatement( String( "}\n" ) );
}
// end of the integrator loop.
if( !equidistantControlGrid() ) {
loop->addStatement( "}\n" );
}
else {
integrate.addStatement( *loop );
}
// PART 1
if( NX1 > 0 ) {
Matrix zeroR = zeros(1, NX2);
ExportForLoop loop1( i,0,NX1 );
loop1.addStatement( rk_eta.getCols( i*NX+NX+NXA+NX1,i*NX+NX+NXA+NX ) == zeroR );
integrate.addStatement( loop1 );
}
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "done.\n" );
return SUCCESSFUL_RETURN;
}
