/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "math-precomp.h"  // Precompiled headers
//
#include <mrpt/math/CMatrixD.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/CSchemeArchiveBase.h>

using namespace mrpt;
using namespace mrpt::math;

// This must be added to any CSerializable class implementation file.
IMPLEMENTS_SERIALIZABLE(CMatrixD, CSerializable, mrpt::math)

uint8_t CMatrixD::serializeGetVersion() const { return 0; }
void CMatrixD::serializeTo(mrpt::serialization::CArchive& out) const
{
  // First, write the number of rows and columns:
  out.WriteAs<uint32_t>(rows()).WriteAs<uint32_t>(cols());

  // Since mrpt-1.9.9, dynamic matrices are stored as a contiguous vector:
  if (rows() > 0 && cols() > 0)
    out.WriteBufferFixEndianness<value_type>(&(*this)(0, 0), cols() * rows());
}
void CMatrixD::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
  switch (version)
  {
    case 0:
    {
      // First, read the number of rows and columns:
      const uint32_t nRows = in.ReadAs<uint32_t>();
      const uint32_t nCols = in.ReadAs<uint32_t>();

      setSize(nRows, nCols);

      if (nRows > 0 && nCols > 0)
        in.ReadBufferFixEndianness<value_type>(&(*this)(0, 0), nRows * nCols);
    }
    break;
    default:
      MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
  };
}

/** Serialize CSerializable Object to CSchemeArchiveBase derived object*/
void CMatrixD::serializeTo(mrpt::serialization::CSchemeArchiveBase& out) const
{
  SCHEMA_SERIALIZE_DATATYPE_VERSION(1);
  out["nrows"] = static_cast<uint32_t>(this->rows());
  out["ncols"] = static_cast<uint32_t>(this->cols());
  out["data"] = this->inMatlabFormat();
}
/** Serialize CSchemeArchiveBase derived object to CSerializable Object*/
void CMatrixD::serializeFrom(mrpt::serialization::CSchemeArchiveBase& in)
{
  uint8_t version;
  SCHEMA_DESERIALIZE_DATATYPE_VERSION();
  switch (version)
  {
    case 1:
    {
      this->fromMatlabStringFormat(static_cast<std::string>(in["data"]));
    }
    break;
    default:
      MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
  }
}
