Yuval Tassa
9a0dc20821
PiperOrigin-RevId: 684054446 Change-Id: I4be0b216810ebbd9d7fa119c6a84eb08d3c16b83
77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_PYTHON_SERIALIZATION_H_
|
|
#define MUJOCO_PYTHON_SERIALIZATION_H_
|
|
|
|
#include <cstddef>
|
|
#include <iostream>
|
|
|
|
#include <mujoco/mjtnum.h>
|
|
|
|
namespace mujoco::python::_impl {
|
|
|
|
// For now, the serialization format is architecture- and version-dependent:
|
|
// It assumes that the writer and the reader have the same endianess, same
|
|
// numeric value sizes and same struct definitions.
|
|
// It is not safe to load serialized data from another version of MuJoCo or from
|
|
// a machine with a different architecture.
|
|
|
|
static_assert(sizeof(char) == 1);
|
|
static_assert(sizeof(int) == 4);
|
|
static_assert(sizeof(mjtNum) == 8);
|
|
|
|
inline void WriteChar(std::ostream& output, char c) {
|
|
output.write(&c, 1);
|
|
}
|
|
|
|
inline char ReadChar(std::istream& input) {
|
|
char c = '\0';
|
|
input.read(&c, 1);
|
|
return c;
|
|
}
|
|
|
|
inline void WriteInt(std::ostream& output, std::size_t i) {
|
|
output.write(reinterpret_cast<char*>(&i), sizeof(std::size_t));
|
|
}
|
|
|
|
inline std::size_t ReadInt(std::istream& input) {
|
|
std::size_t i = 0;
|
|
input.read(reinterpret_cast<char*>(&i), sizeof(std::size_t));
|
|
return i;
|
|
}
|
|
|
|
inline void WriteBytes(std::ostream& output, const void* src,
|
|
std::size_t nbytes) {
|
|
// Start by writing nbytes itself, so it can be validated at the time of
|
|
// reading.
|
|
WriteInt(output, nbytes);
|
|
if (src) {
|
|
output.write(reinterpret_cast<const char*>(src), nbytes);
|
|
}
|
|
}
|
|
|
|
inline void ReadBytes(std::istream& input, void* dest, std::size_t nbytes) {
|
|
std::size_t actual_nbytes = ReadInt(input);
|
|
if (actual_nbytes != nbytes) {
|
|
input.setstate(input.rdstate() | std::ios_base::failbit);
|
|
return;
|
|
}
|
|
input.read(reinterpret_cast<char*>(dest), nbytes);
|
|
}
|
|
|
|
} // namespace mujoco::python::_impl
|
|
|
|
#endif // MUJOCO_PYTHON_SERIALIZATION_H_
|