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#include "camera_calibration_parsers/parse.h"
#include "camera_calibration_parsers/parse_wrapper.h"

#include <boost/python.hpp>
#include <ros/serialization.h>

namespace camera_calibration_parsers {

/* Write a ROS message into a serialized string.
 * @from https://github.com/galou/python_bindings_tutorial/blob/master/src/add_two_ints_wrapper.cpp#L27
*/
template <typename M>
std::string to_python(const M& msg)
{
  size_t serial_size = ros::serialization::serializationLength(msg);
  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
  ros::serialization::OStream stream(buffer.get(), serial_size);
  ros::serialization::serialize(stream, msg);
  std::string str_msg;
  str_msg.reserve(serial_size);
  for (size_t i = 0; i < serial_size; ++i)
  {
    str_msg.push_back(buffer[i]);
  }
  return str_msg;
}

// Wrapper for readCalibration()
boost::python::tuple readCalibrationWrapper(const std::string& file_name)
{
  std::string camera_name;
  sensor_msgs::CameraInfo camera_info;
  bool result = readCalibration(file_name, camera_name, camera_info);
  std::string cam_info = to_python(camera_info);
  PyObject * cam_info_py = PyBytes_FromStringAndSize(cam_info.c_str(), cam_info.size());
  return boost::python::make_tuple(
    result,
    camera_name,
    boost::python::object(boost::python::handle<>(cam_info_py)));
}

BOOST_PYTHON_MODULE(camera_calibration_parsers_wrapper)
{
    boost::python::def("__readCalibrationWrapper", readCalibrationWrapper, boost::python::args("file_name"), "");
}

} //namespace camera_calibration_parsers
