From afc9333a17167aed7a351d763e8b6fd06eb3bb3b Mon Sep 17 00:00:00 2001
From: Ayush Baid <ayushrakeshbaid@gmail.com>
Date: Mon, 8 Mar 2021 19:53:26 -0500
Subject: [PATCH] Squashed 'wrap/' changes from d37b8a972..10e1efd6f

10e1efd6f Merge pull request #32 from ayushbaid/feature/pickle
55d5d7fbe ignoring pickle in matlab wrap
8d70c7fe2 adding newlines
dee8aaee3 adding markers for pickling
46fc45d82 separating out the marker for pickle

git-subtree-dir: wrap
git-subtree-split: 10e1efd6f25f76b774868b3da33cb3954008b233
---
 gtwrap/matlab_wrapper.py                  | 12 ++++++++++++
 gtwrap/pybind_wrapper.py                  |  7 ++++++-
 tests/expected-python/geometry_pybind.cpp |  2 ++
 tests/geometry.h                          |  6 ++++++
 4 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/gtwrap/matlab_wrapper.py b/gtwrap/matlab_wrapper.py
index 669bf474f..fe4ee7e19 100755
--- a/gtwrap/matlab_wrapper.py
+++ b/gtwrap/matlab_wrapper.py
@@ -49,6 +49,8 @@ class MatlabWrapper(object):
     }
     """Methods that should not be wrapped directly"""
     whitelist = ['serializable', 'serialize']
+    """Methods that should be ignored"""
+    ignore_methods = ['pickle']
     """Datatypes that do not need to be checked in methods"""
     not_check_type = []
     """Data types that are primitive types"""
@@ -563,6 +565,8 @@ class MatlabWrapper(object):
         for method in methods:
             if method.name in self.whitelist:
                 continue
+            if method.name in self.ignore_methods:
+                continue
 
             comment += '%{name}({args})'.format(name=method.name, args=self._wrap_args(method.args))
 
@@ -612,6 +616,9 @@ class MatlabWrapper(object):
         methods = self._group_methods(methods)
 
         for method in methods:
+            if method in self.ignore_methods:
+                continue
+
             if globals:
                 self._debug("[wrap_methods] wrapping: {}..{}={}".format(method[0].parent.name, method[0].name,
                                                                         type(method[0].parent.name)))
@@ -861,6 +868,8 @@ class MatlabWrapper(object):
             method_name = method[0].name
             if method_name in self.whitelist and method_name != 'serialize':
                 continue
+            if method_name in self.ignore_methods:
+                continue
 
             if method_name == 'serialize':
                 serialize[0] = True
@@ -932,6 +941,9 @@ class MatlabWrapper(object):
             format_name = list(static_method[0].name)
             format_name[0] = format_name[0].upper()
 
+            if static_method[0].name in self.ignore_methods:
+                continue
+
             method_text += textwrap.indent(textwrap.dedent('''\
                     function varargout = {name}(varargin)
                     '''.format(name=''.join(format_name))),
diff --git a/gtwrap/pybind_wrapper.py b/gtwrap/pybind_wrapper.py
index ec5480785..a045afcbd 100755
--- a/gtwrap/pybind_wrapper.py
+++ b/gtwrap/pybind_wrapper.py
@@ -75,6 +75,11 @@ class PybindWrapper(object):
                         []({class_inst} self, string serialized){{
                             gtsam::deserialize(serialized, *self);
                         }}, py::arg("serialized"))
+                    '''.format(class_inst=cpp_class + '*'))
+        if cpp_method == "pickle":
+            if not cpp_class in self._serializing_classes:
+                raise ValueError("Cannot pickle a class which is not serializable")
+            return textwrap.dedent('''
                     .def(py::pickle(
                         [](const {cpp_class} &a){{ // __getstate__
                             /* Returns a string that encodes the state of the object */
@@ -85,7 +90,7 @@ class PybindWrapper(object):
                             gtsam::deserialize(t[0].cast<std::string>(), obj);
                             return obj;
                         }}))
-                    '''.format(class_inst=cpp_class + '*', cpp_class=cpp_class))
+                    '''.format(cpp_class=cpp_class))
 
         is_method = isinstance(method, instantiator.InstantiatedMethod)
         is_static = isinstance(method, parser.StaticMethod)
diff --git a/tests/expected-python/geometry_pybind.cpp b/tests/expected-python/geometry_pybind.cpp
index 53d33eabf..be6482d89 100644
--- a/tests/expected-python/geometry_pybind.cpp
+++ b/tests/expected-python/geometry_pybind.cpp
@@ -47,6 +47,7 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point2* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+
 .def(py::pickle(
     [](const gtsam::Point2 &a){ // __getstate__
         /* Returns a string that encodes the state of the object */
@@ -71,6 +72,7 @@ PYBIND11_MODULE(geometry_py, m_) {
     [](gtsam::Point3* self, string serialized){
         gtsam::deserialize(serialized, *self);
     }, py::arg("serialized"))
+
 .def(py::pickle(
     [](const gtsam::Point3 &a){ // __getstate__
         /* Returns a string that encodes the state of the object */
diff --git a/tests/geometry.h b/tests/geometry.h
index 40d878c9f..ec5d3b277 100644
--- a/tests/geometry.h
+++ b/tests/geometry.h
@@ -22,6 +22,9 @@ class Point2 {
  VectorNotEigen vectorConfusion();
 
  void serializable() const; // Sets flag and creates export, but does not make serialization functions
+
+ // enable pickling in python
+ void pickle() const;
 };
 
 #include <gtsam/geometry/Point3.h>
@@ -35,6 +38,9 @@ class Point3 {
 
   // enabling serialization functionality
   void serialize() const; // Just triggers a flag internally and removes actual function
+
+  // enable pickling in python
+  void pickle() const;
 };
 
 }