/* +------------------------------------------------------------------------+
   |                     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          |
   +------------------------------------------------------------------------+ */

#define MRPT_NO_WARN_BIG_HDR  // Yes, we really want to include all classes.
#include <CTraitsTest.h>
#include <gtest/gtest.h>
#include <mrpt/io/CMemoryStream.h>
#include <mrpt/maps.h>
#include <mrpt/obs/CObservationPointCloud.h>
#include <mrpt/obs/CObservationRotatingScan.h>
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/opengl/CPlanarLaserScan.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::opengl;
using namespace mrpt::obs;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace std;

#define TEST_CLASS_MOVE_COPY_CTORS(_classname) template class mrpt::CTraitsTest<_classname>

TEST_CLASS_MOVE_COPY_CTORS(CBeacon);
TEST_CLASS_MOVE_COPY_CTORS(CBeaconMap);
TEST_CLASS_MOVE_COPY_CTORS(CColouredPointsMap);
TEST_CLASS_MOVE_COPY_CTORS(CGasConcentrationGridMap2D);
TEST_CLASS_MOVE_COPY_CTORS(CWirelessPowerGridMap2D);
TEST_CLASS_MOVE_COPY_CTORS(CHeightGridMap2D);
TEST_CLASS_MOVE_COPY_CTORS(CReflectivityGridMap2D);
TEST_CLASS_MOVE_COPY_CTORS(COccupancyGridMap2D);
TEST_CLASS_MOVE_COPY_CTORS(COccupancyGridMap3D);
TEST_CLASS_MOVE_COPY_CTORS(CSimplePointsMap);
TEST_CLASS_MOVE_COPY_CTORS(CRandomFieldGridMap3D);
TEST_CLASS_MOVE_COPY_CTORS(CWeightedPointsMap);
TEST_CLASS_MOVE_COPY_CTORS(CPointsMapXYZI);
TEST_CLASS_MOVE_COPY_CTORS(COctoMap);
TEST_CLASS_MOVE_COPY_CTORS(CColouredOctoMap);
TEST_CLASS_MOVE_COPY_CTORS(CVoxelMap);
TEST_CLASS_MOVE_COPY_CTORS(CVoxelMapRGB);
TEST_CLASS_MOVE_COPY_CTORS(CSinCosLookUpTableFor2DScans);
// obs:
TEST_CLASS_MOVE_COPY_CTORS(CObservationPointCloud);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRotatingScan);
// opengl:
TEST_CLASS_MOVE_COPY_CTORS(CAngularObservationMesh);
TEST_CLASS_MOVE_COPY_CTORS(CPlanarLaserScan);

// Create a set of classes, then serialize and deserialize to test possible
// bugs:
TEST(SerializeTestMaps, WriteReadToMem)
{
  const mrpt::rtti::TRuntimeClassId* lstClasses[] = {
      CLASS_ID(CBeacon),
      CLASS_ID(CBeaconMap),
      CLASS_ID(CColouredPointsMap),
      CLASS_ID(CGasConcentrationGridMap2D),
      CLASS_ID(CWirelessPowerGridMap2D),
      CLASS_ID(CHeightGridMap2D),
      CLASS_ID(CReflectivityGridMap2D),
      CLASS_ID(COccupancyGridMap2D),
      CLASS_ID(COccupancyGridMap3D),
      CLASS_ID(CSimplePointsMap),
      CLASS_ID(CRandomFieldGridMap3D),
      CLASS_ID(CWeightedPointsMap),
      CLASS_ID(CPointsMapXYZI),
      CLASS_ID(COctoMap),
      CLASS_ID(CColouredOctoMap),
      CLASS_ID(CVoxelMap),
      CLASS_ID(CVoxelMapRGB),
      // obs:
      CLASS_ID(CObservationPointCloud),
      CLASS_ID(CObservationRotatingScan),
      // opengl:
      CLASS_ID(CAngularObservationMesh),
      CLASS_ID(CPlanarLaserScan),
  };

  for (auto& classInfo : lstClasses)
  {
    try
    {
      CMemoryStream buf;
      auto arch = mrpt::serialization::archiveFrom(buf);
      std::cout << "Serializing " << classInfo->className << "...";
      {
        auto o = mrpt::ptr_cast<CSerializable>::from(classInfo->createObject());
        arch << *o;
        o.reset();
      }
      std::cout << "OK.\n";

      std::cout << "  Deserializing it...";

      CSerializable::Ptr recons;
      buf.Seek(0);
      arch >> recons;

      std::cout << "OK.\n";
    }
    catch (const std::exception& e)
    {
      GTEST_FAIL() << "Exception during serialization test for class '" << classInfo->className
                   << "':\n"
                   << e.what() << endl;
    }
  }
}
