source: pacpussensors/trunk/Vislab/lib3dv/eigen/debug/gdb/printers.py@ 139

Last change on this file since 139 was 136, checked in by ldecherf, 8 years ago

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1# -*- coding: utf-8 -*-
2# This file is part of Eigen, a lightweight C++ template library
3# for linear algebra.
4#
5# Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
6#
7# This Source Code Form is subject to the terms of the Mozilla Public
8# License, v. 2.0. If a copy of the MPL was not distributed with this
9# file, You can obtain one at http://mozilla.org/MPL/2.0/.
10
11# Pretty printers for Eigen::Matrix
12# This is still pretty basic as the python extension to gdb is still pretty basic.
13# It cannot handle complex eigen types and it doesn't support any of the other eigen types
14# Such as quaternion or some other type.
15# This code supports fixed size as well as dynamic size matrices
16
17# To use it:
18#
19# * Create a directory and put the file as well as an empty __init__.py in
20# that directory.
21# * Create a ~/.gdbinit file, that contains the following:
22# python
23# import sys
24# sys.path.insert(0, '/path/to/eigen/printer/directory')
25# from printers import register_eigen_printers
26# register_eigen_printers (None)
27# end
28
29import gdb
30import re
31import itertools
32
33
34class EigenMatrixPrinter:
35 "Print Eigen Matrix or Array of some kind"
36
37 def __init__(self, variety, val):
38 "Extract all the necessary information"
39
40 # Save the variety (presumably "Matrix" or "Array") for later usage
41 self.variety = variety
42
43 # The gdb extension does not support value template arguments - need to extract them by hand
44 type = val.type
45 if type.code == gdb.TYPE_CODE_REF:
46 type = type.target()
47 self.type = type.unqualified().strip_typedefs()
48 tag = self.type.tag
49 regex = re.compile('\<.*\>')
50 m = regex.findall(tag)[0][1:-1]
51 template_params = m.split(',')
52 template_params = map(lambda x:x.replace(" ", ""), template_params)
53
54 if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1':
55 self.rows = val['m_storage']['m_rows']
56 else:
57 self.rows = int(template_params[1])
58
59 if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1':
60 self.cols = val['m_storage']['m_cols']
61 else:
62 self.cols = int(template_params[2])
63
64 self.options = 0 # default value
65 if len(template_params) > 3:
66 self.options = template_params[3];
67
68 self.rowMajor = (int(self.options) & 0x1)
69
70 self.innerType = self.type.template_argument(0)
71
72 self.val = val
73
74 # Fixed size matrices have a struct as their storage, so we need to walk through this
75 self.data = self.val['m_storage']['m_data']
76 if self.data.type.code == gdb.TYPE_CODE_STRUCT:
77 self.data = self.data['array']
78 self.data = self.data.cast(self.innerType.pointer())
79
80 class _iterator:
81 def __init__ (self, rows, cols, dataPtr, rowMajor):
82 self.rows = rows
83 self.cols = cols
84 self.dataPtr = dataPtr
85 self.currentRow = 0
86 self.currentCol = 0
87 self.rowMajor = rowMajor
88
89 def __iter__ (self):
90 return self
91
92 def next(self):
93
94 row = self.currentRow
95 col = self.currentCol
96 if self.rowMajor == 0:
97 if self.currentCol >= self.cols:
98 raise StopIteration
99
100 self.currentRow = self.currentRow + 1
101 if self.currentRow >= self.rows:
102 self.currentRow = 0
103 self.currentCol = self.currentCol + 1
104 else:
105 if self.currentRow >= self.rows:
106 raise StopIteration
107
108 self.currentCol = self.currentCol + 1
109 if self.currentCol >= self.cols:
110 self.currentCol = 0
111 self.currentRow = self.currentRow + 1
112
113
114 item = self.dataPtr.dereference()
115 self.dataPtr = self.dataPtr + 1
116 if (self.cols == 1): #if it's a column vector
117 return ('[%d]' % (row,), item)
118 elif (self.rows == 1): #if it's a row vector
119 return ('[%d]' % (col,), item)
120 return ('[%d,%d]' % (row, col), item)
121
122 def children(self):
123
124 return self._iterator(self.rows, self.cols, self.data, self.rowMajor)
125
126 def to_string(self):
127 return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data)
128
129class EigenQuaternionPrinter:
130 "Print an Eigen Quaternion"
131
132 def __init__(self, val):
133 "Extract all the necessary information"
134 # The gdb extension does not support value template arguments - need to extract them by hand
135 type = val.type
136 if type.code == gdb.TYPE_CODE_REF:
137 type = type.target()
138 self.type = type.unqualified().strip_typedefs()
139 self.innerType = self.type.template_argument(0)
140 self.val = val
141
142 # Quaternions have a struct as their storage, so we need to walk through this
143 self.data = self.val['m_coeffs']['m_storage']['m_data']['array']
144 self.data = self.data.cast(self.innerType.pointer())
145
146 class _iterator:
147 def __init__ (self, dataPtr):
148 self.dataPtr = dataPtr
149 self.currentElement = 0
150 self.elementNames = ['x', 'y', 'z', 'w']
151
152 def __iter__ (self):
153 return self
154
155 def next(self):
156 element = self.currentElement
157
158 if self.currentElement >= 4: #there are 4 elements in a quanternion
159 raise StopIteration
160
161 self.currentElement = self.currentElement + 1
162
163 item = self.dataPtr.dereference()
164 self.dataPtr = self.dataPtr + 1
165 return ('[%s]' % (self.elementNames[element],), item)
166
167 def children(self):
168
169 return self._iterator(self.data)
170
171 def to_string(self):
172 return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data)
173
174def build_eigen_dictionary ():
175 pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val)
176 pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val)
177 pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val)
178
179def register_eigen_printers(obj):
180 "Register eigen pretty-printers with objfile Obj"
181
182 if obj == None:
183 obj = gdb
184 obj.pretty_printers.append(lookup_function)
185
186def lookup_function(val):
187 "Look-up and return a pretty-printer that can print va."
188
189 type = val.type
190
191 if type.code == gdb.TYPE_CODE_REF:
192 type = type.target()
193
194 type = type.unqualified().strip_typedefs()
195
196 typename = type.tag
197 if typename == None:
198 return None
199
200 for function in pretty_printers_dict:
201 if function.search(typename):
202 return pretty_printers_dict[function](val)
203
204 return None
205
206pretty_printers_dict = {}
207
208build_eigen_dictionary ()
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