serialize_msg_python_cpp_helpers.cpp

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/* Author: Bjarne von Horn */
 
#include <Python.h>
#include <boost/python.hpp>
#include <moveit/py_bindings_tools/serialize_msg.h>
#include <geometry_msgs/Vector3.h>
#include <cstring>
 
namespace bp = boost::python;
using moveit::py_bindings_tools::ByteString;
 
// Helper class to be exposed to Python
class ByteStringTestHelper
{
  // Helper to test whether a vector of unsigned chars has the same content as a bytes Object
  bool doCompare(const std::vector<unsigned char>& data, PyObject* obj)
  {
    const char* py_data = PyBytes_AsString(obj);
    if (!py_data)
      return false;
    Py_ssize_t size = PyBytes_GET_SIZE(obj);
    if (size < 0 || std::vector<unsigned char>::size_type(size) != data.size())
      return false;
    return std::memcmp(py_data, &data[0], size) == 0;
  }
 
public:
  bool compareEmbeddedZeros(const ByteString& s)
  {
    const std::vector<unsigned char> testdata{ 0xff, 0xef, 0x00, 0x10 };
    return doCompare(testdata, s.ptr());
  }
  bool compareTuple(const bp::tuple& t)
  {
    const ByteString s(t[0]);
    const std::vector<unsigned char> testdata{ 'm', 'n', 'o' };
    return doCompare(testdata, s.ptr());
  }
 
  ByteString getBytesPChar()
  {
    return ByteString("abcdef");
  }
  ByteString getBytesStdString()
  {
    std::string s;
    s.push_back('\xff');
    s.push_back('\xfe');
    s.push_back('\x10');
    s.push_back('\x00');
    s.push_back('\x00');
    return ByteString(s);
  }
  ByteString getDefaultBytes()
  {
    return ByteString();
  }
  bp::tuple getTuple()
  {
    return bp::make_tuple(ByteString("abcdef"));
  }
  ByteString getVector()
  {
    geometry_msgs::Vector3 v;
    v.x = 1.0;
    v.y = -2.0;
    v.z = 0.25;
    return ByteString(v);
  }
  bool compareVector(const ByteString& s)
  {
    geometry_msgs::Vector3 v;
    s.deserialize(v);
    return v.x == 1.0 && v.y == -2.0 && v.z == 0.25;
  }
  bool compareVectorTuple(const bp::tuple& t)
  {
    const ByteString s(t[0]);
    return compareVector(s);
  }
 
  static void setup()
  {
    bp::class_<ByteStringTestHelper> cls("ByteStringTestHelper");
    cls.def("compareEmbeddedZeros", &ByteStringTestHelper::compareEmbeddedZeros);
    cls.def("compareTuple", &ByteStringTestHelper::compareTuple);
    cls.def("compareVectorTuple", &ByteStringTestHelper::compareVectorTuple);
    cls.def("getBytesPChar", &ByteStringTestHelper::getBytesPChar);
    cls.def("getBytesStdString", &ByteStringTestHelper::getBytesStdString);
    cls.def("getDefaultBytes", &ByteStringTestHelper::getDefaultBytes);
    cls.def("getTuple", &ByteStringTestHelper::getTuple);
    cls.def("getVector", &ByteStringTestHelper::getVector);
    cls.def("compareVector", &ByteStringTestHelper::compareVector);
  }
};
 
BOOST_PYTHON_MODULE(_moveit_planning_interface_test_serialize_msg_cpp_helper)
{
  ByteStringTestHelper::setup();
}