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|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://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, MyNS)
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, MyNS)
void printName() override { std::cout << "class: Bar" << std::endl; }
void specificBarMethod()
{
std::cout << "specificBarMethod: reached." << std::endl;
}
};
} // namespace MyNS
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\n" : "No\n");
std::cout << "Is BarBase? => "
<< (IS_DERIVED(*pObj, BarBase) ? "Yes\n" : "No\n");
std::cout << "Is Bar? => " << (IS_DERIVED(*pObj, Bar) ? "Yes\n" : "No\n");
if (IS_CLASS(*pObj, Bar))
{
auto pBar2 = mrpt::ptr_cast<Bar>::from(pObj);
pBar2->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::classFactory("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 (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
}
|
