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

#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& lstClasse : lstClasses)
	{
		try
		{
			CMemoryStream buf;
			auto arch = mrpt::serialization::archiveFrom(buf);
			{
				auto o = mrpt::ptr_cast<CSerializable>::from(
					lstClasse->createObject());
				arch << *o;
				o.reset();
			}

			CSerializable::Ptr recons;
			buf.Seek(0);
			arch >> recons;
		}
		catch (const std::exception& e)
		{
			GTEST_FAIL() << "Exception during serialization test for class '"
						 << lstClasse->className << "':\n"
						 << e.what() << endl;
		}
	}
}
