test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
/** \example rtti_example1/test.cpp */
 
//! [example-define-class]
#include <mrpt/rtti/CObject.h>
#include <iostream>
#include <memory>
 
namespace MyNS
{
class Foo : public mrpt::rtti::CObject
{
   public:
        Foo() {}
        DEFINE_MRPT_OBJECT(Foo)
 
        void printName() { std::cout << "printName: Foo" << std::endl; }
};
 
class BarBase : public mrpt::rtti::CObject
{
   public:
        BarBase() {}
        DEFINE_VIRTUAL_MRPT_OBJECT(BarBase)
 
        virtual void printName() { std::cout << "printName: BarBase" << std::endl; }
};
 
class Bar : public BarBase
{
   public:
        Bar() {}
        DEFINE_MRPT_OBJECT(Bar)
 
        virtual void printName() override
        {
                std::cout << "class: Bar" << std::endl;
        }
        void specificBarMethod()
        {
                std::cout << "specificBarMethod: reached." << std::endl;
        }
};
}
 
IMPLEMENTS_MRPT_OBJECT(Foo, mrpt::rtti::CObject, MyNS)
IMPLEMENTS_VIRTUAL_MRPT_OBJECT(BarBase, mrpt::rtti::CObject, MyNS)
IMPLEMENTS_MRPT_OBJECT(Bar, MyNS::BarBase, MyNS)
 
//! [example-define-class]
 
//! [example-define-class-test]
void Test_UserTypes()
{
        using namespace MyNS;
        const auto id_foo = CLASS_ID(Foo);
        std::cout << "RTTI Foo (static): " << id_foo->className << std::endl;
 
        // Pointers:
        Bar::Ptr pBar = std::make_shared<Bar>();
        BarBase::Ptr pBase = mrpt::ptr_cast<BarBase>::from(pBar);
        mrpt::rtti::CObject::Ptr pObj =
                mrpt::ptr_cast<mrpt::rtti::CObject>::from(pBar);
 
        pBar->printName();
        pBase->printName();
        std::cout << "Is Foo?     => " << (IS_DERIVED(pObj, Foo) ? "Yes" : "No")
                          << std::endl;
        std::cout << "Is BarBase? => " << (IS_DERIVED(pObj, BarBase) ? "Yes" : "No")
                          << std::endl;
        std::cout << "Is Bar?     => " << (IS_DERIVED(pObj, Bar) ? "Yes" : "No")
                          << std::endl;
        if (IS_CLASS(pObj, Bar))
        {
                auto pBar = mrpt::ptr_cast<Bar>::from(pObj);
                pBar->specificBarMethod();
        }
}
 
//! [example-define-class-test]
 
//! [example-factory]
void do_register()
{
        // Register with explicit namespace:
        mrpt::rtti::registerClass(CLASS_ID_NAMESPACE(Foo, MyNS));
        {
                // Register without explicit namespace:
                using namespace MyNS;
                mrpt::rtti::registerClass(CLASS_ID(BarBase));
                mrpt::rtti::registerClass(CLASS_ID(Bar));
                mrpt::rtti::registerClassCustomName("MyNS::Bar", CLASS_ID(Bar));
        }
}
 
void Test_UserTypesFactory()
{
        do_register();
 
        // Test register:
        {
                const auto& allClasses = mrpt::rtti::getAllRegisteredClasses();
                for (const auto& cl : allClasses)
                {
                        std::cout << "Known class: " << cl->className << ", children of "
                                          << (cl->getBaseClass ? cl->getBaseClass()->className
                                                                                   : "(none)")
                                          << std::endl;
                }
        }
 
        // Test factory:
        {
                mrpt::rtti::CObject::Ptr pObj =
                        mrpt::rtti::classFactoryPtr("MyNS::Bar");
                if (IS_CLASS(pObj, MyNS::Bar))
                {
                        auto pBar = mrpt::ptr_cast<MyNS::Bar>::from(pObj);
                        pBar->specificBarMethod();
                }
        }
}
 
//! [example-factory]
 
int main(int argc, char** argv)
{
        try
        {
                Test_UserTypes();
                Test_UserTypesFactory();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "Exception: " << e.what() << std::endl;
                return -1;
        }
}