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// Copyright (c) 2022 INRIA |
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#ifndef HPP_FCL_PYTHON_PICKLE_H |
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#define HPP_FCL_PYTHON_PICKLE_H |
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#include <boost/python.hpp> |
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#include <eigenpy/eigenpy.hpp> |
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#include <boost/archive/text_oarchive.hpp> |
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#include <boost/archive/text_iarchive.hpp> |
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#include <sstream> |
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using namespace boost::python; |
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using namespace hpp::fcl; |
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// |
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template <typename T> |
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struct PickleObject : boost::python::pickle_suite { |
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static boost::python::tuple getinitargs(const T&) { |
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return boost::python::make_tuple(); |
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} |
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static boost::python::tuple getstate(const T& obj) { |
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✓✗ |
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std::stringstream ss; |
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✓✗ |
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boost::archive::text_oarchive oa(ss); |
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✓✗ |
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oa & obj; |
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✓✗✓✗
✓✗ |
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return boost::python::make_tuple(boost::python::str(ss.str())); |
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} |
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static void setstate(T& obj, boost::python::tuple tup) { |
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✓✗✓✗
✓✗✗✓
✗✓ |
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if (boost::python::len(tup) == 0 || boost::python::len(tup) > 1) { |
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throw eigenpy::Exception( |
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"Pickle was not able to reconstruct the object from the loaded " |
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"data.\n" |
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"The pickle data structure contains too many elements."); |
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} |
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✓✗✓✗
|
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boost::python::object py_obj = tup[0]; |
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✓✗ |
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boost::python::extract<std::string> obj_as_string(py_obj.ptr()); |
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✓✗ |
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if (obj_as_string.check()) { |
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✓✗✓✗
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const std::string str = obj_as_string; |
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✓✗ |
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std::istringstream is(str); |
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✓✗ |
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boost::archive::text_iarchive ia(is, boost::archive::no_codecvt); |
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✓✗ |
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ia >> obj; |
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} else { |
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throw eigenpy::Exception( |
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"Pickle was not able to reconstruct the model from the loaded data.\n" |
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"The entry is not a string."); |
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} |
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} |
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static bool getstate_manages_dict() { return false; } |
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}; |
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#endif // ifndef HPP_FCL_PYTHON_PICKLE_H |