bindings/python/serialization/serialization.cpp

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//
// Copyright (c) 2021-2022 INRIA
//

#include "pinocchio/serialization/archive.hpp"

#include "pinocchio/bindings/python/fwd.hpp"
#include "pinocchio/bindings/python/utils/namespace.hpp"
#include "pinocchio/bindings/python/serialization/serialization.hpp"

namespace pinocchio
{
  namespace python
  {
    
    static void buffer_copy(boost::asio::streambuf & dest,
                            const boost::asio::streambuf & source)
    {
      std::size_t bytes_copied = boost::asio::buffer_copy(dest.prepare(source.size()),source.data());
      dest.commit(bytes_copied);
    }
  
    static boost::asio::streambuf & prepare_proxy(boost::asio::streambuf & self, const std::size_t n)
    {
      self.prepare(n); return self;
    }
    
    void exposeSerialization()
    {
      namespace bp = boost::python;
      
      bp::scope current_scope = getOrCreatePythonNamespace("serialization");
      
      typedef boost::asio::streambuf StreamBuffer;
      bp::class_<StreamBuffer,boost::noncopyable>("StreamBuffer",
                                                  "Stream buffer to save/load serialized objects in binary mode.",
                                                  bp::init<>(bp::arg("self"),"Default constructor."))
//      .def("capacity",&StreamBuffer::capacity,"Get the current capacity of the StreamBuffer.")
      .def("size",&StreamBuffer::size,"Get the size of the input sequence.")
      .def("max_size",&StreamBuffer::max_size,"Get the maximum size of the StreamBuffer.")
      .def("prepare",prepare_proxy,"Reserve data.",bp::return_internal_reference<>())
      ;
      
      typedef pinocchio::serialization::StaticBuffer StaticBuffer;
      bp::class_<StaticBuffer>("StaticBuffer",
                               "Static buffer to save/load serialized objects in binary mode with pre-allocated memory.",
                               bp::init<size_t>(bp::args("self","size"),"Default constructor from a given size capacity."))
      .def("size",&StaticBuffer::size,bp::arg("self"),
           "Get the size of the input sequence.")
      .def("reserve",&StaticBuffer::resize,bp::arg("new_size"),
           "Increase the capacity of the vector to a value that's greater or equal to new_size.")
      ;
      
      bp::def("buffer_copy",buffer_copy,
              bp::args("dest","source"),
              "Copy bytes from a source buffer to a target buffer.");
    }
    
  } // namespace python
} // namespace pinocchio