//
// Created by flo on 09.11.20.
//

#pragma once

#include "carla/Memory.h"
#include "carla/sensor/RawData.h"

#include <cstdint>
#include <cstring>

namespace carla {
  namespace sensor {

    class SensorData;

    namespace s11n {

      /// Serializes image buffers generated by camera sensors.
      class OpticalFlowImageSerializer {
      public:

#pragma pack(push, 1)
        struct ImageHeader {
          uint32_t width;
          uint32_t height;
          float fov_angle;
        };
#pragma pack(pop)

        constexpr static auto header_offset = sizeof(ImageHeader);

        static const ImageHeader &DeserializeHeader(const RawData &data) {
          return *reinterpret_cast<const ImageHeader *>(data.begin());
        }

        template <typename Sensor>
        static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap);

        static SharedPtr<SensorData> Deserialize(RawData &&data);
      };

      template <typename Sensor>
      inline Buffer OpticalFlowImageSerializer::Serialize(const Sensor &sensor, Buffer &&bitmap) {
        DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
        ImageHeader header = {
            sensor.GetImageWidth(),
            sensor.GetImageHeight(),
            sensor.GetFOVAngle()
        };
        std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
        return std::move(bitmap);
      }

    } // namespace s11n
  } // namespace sensor
} // namespace carla