Directory: | ./ |
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File: | bindings/python/serialization/serialization.cpp |
Date: | 2024-08-27 18:20:05 |
Exec | Total | Coverage | |
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Lines: | 21 | 34 | 61.8% |
Branches: | 24 | 52 | 46.2% |
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1 | // | ||
2 | // Copyright (c) 2021-2023 INRIA | ||
3 | // | ||
4 | |||
5 | #include <boost/asio.hpp> | ||
6 | |||
7 | #include "pinocchio/bindings/python/fwd.hpp" | ||
8 | #include "pinocchio/bindings/python/utils/namespace.hpp" | ||
9 | #include "pinocchio/bindings/python/serialization/serialization.hpp" | ||
10 | |||
11 | namespace pinocchio | ||
12 | { | ||
13 | namespace python | ||
14 | { | ||
15 | |||
16 | ✗ | static void buffer_copy(boost::asio::streambuf & dest, const boost::asio::streambuf & source) | |
17 | { | ||
18 | std::size_t bytes_copied = | ||
19 | ✗ | boost::asio::buffer_copy(dest.prepare(source.size()), source.data()); | |
20 | ✗ | dest.commit(bytes_copied); | |
21 | } | ||
22 | |||
23 | static boost::asio::streambuf & | ||
24 | ✗ | prepare_proxy(boost::asio::streambuf & self, const std::size_t n) | |
25 | { | ||
26 | ✗ | self.prepare(n); | |
27 | ✗ | return self; | |
28 | } | ||
29 | |||
30 | ✗ | static PyObject * view(boost::asio::streambuf & self) | |
31 | { | ||
32 | ✗ | boost::asio::streambuf::const_buffers_type bufs = self.data(); | |
33 | ✗ | PyObject * py_buffer = PyMemoryView_FromMemory( | |
34 | ✗ | const_cast<char *>(static_cast<const char *>(bufs.data())), self.size(), PyBUF_READ); | |
35 | ✗ | return py_buffer; | |
36 | } | ||
37 | |||
38 | ✗ | static PyObject * tobytes(boost::asio::streambuf & self) | |
39 | { | ||
40 | ✗ | return PyBytes_FromObject(view(self)); | |
41 | } | ||
42 | |||
43 | 20 | void exposeSerialization() | |
44 | { | ||
45 | namespace bp = boost::python; | ||
46 | |||
47 |
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40 | bp::scope current_scope = getOrCreatePythonNamespace("serialization"); |
48 | |||
49 | typedef boost::asio::streambuf StreamBuffer; | ||
50 |
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20 | if (!eigenpy::register_symbolic_link_to_registered_type<StreamBuffer>()) |
51 | { | ||
52 |
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20 | bp::class_<StreamBuffer, boost::noncopyable>( |
53 | "StreamBuffer", "Stream buffer to save/load serialized objects in binary mode.", | ||
54 |
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40 | bp::init<>(bp::arg("self"), "Default constructor.")) |
55 | // .def("capacity",&StreamBuffer::capacity,"Get the current capacity of the | ||
56 | // StreamBuffer.") | ||
57 |
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20 | .def("size", &StreamBuffer::size, "Get the size of the input sequence.") |
58 |
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20 | .def("max_size", &StreamBuffer::max_size, "Get the maximum size of the StreamBuffer.") |
59 |
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20 | .def("prepare", prepare_proxy, "Reserve data.", bp::return_self<>()) |
60 |
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20 | .def( |
61 | "view", view, "Returns the content of *this as a memory view.", | ||
62 | 20 | bp::with_custodian_and_ward_postcall<0, 1>()) | |
63 |
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20 | .def("tobytes", tobytes, "Returns the content of *this as a byte sequence."); |
64 | } | ||
65 | |||
66 | typedef pinocchio::serialization::StaticBuffer StaticBuffer; | ||
67 |
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20 | if (!eigenpy::register_symbolic_link_to_registered_type<StaticBuffer>()) |
68 | { | ||
69 |
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20 | bp::class_<StaticBuffer>( |
70 | "StaticBuffer", | ||
71 | "Static buffer to save/load serialized objects in binary mode with pre-allocated memory.", | ||
72 |
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20 | bp::init<size_t>( |
73 |
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40 | bp::args("self", "size"), "Default constructor from a given size capacity.")) |
74 |
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40 | .def("size", &StaticBuffer::size, bp::arg("self"), "Get the size of the input sequence.") |
75 |
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20 | .def( |
76 |
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40 | "reserve", &StaticBuffer::resize, bp::arg("new_size"), |
77 | "Increase the capacity of the vector to a value that's greater or equal to new_size."); | ||
78 | } | ||
79 | |||
80 |
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20 | bp::def( |
81 |
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40 | "buffer_copy", buffer_copy, bp::args("dest", "source"), |
82 | "Copy bytes from a source buffer to a target buffer."); | ||
83 | 20 | } | |
84 | |||
85 | } // namespace python | ||
86 | } // namespace pinocchio | ||
87 |