NRT Message Split Test

testMessageSplit.cpp

#include <iostream>
#include <cxxabi.h>
#include <boost/preprocessor/variadic/size.hpp>
#include <boost/preprocessor/seq/for_each.hpp>
#include <boost/preprocessor/variadic/to_seq.hpp>
#include <boost/preprocessor/stringize.hpp>

int indent = 1;

template<class T>
std::string demangledName()
{
  int status;
  return std::string(abi::__cxa_demangle(typeid(T).name(), 0, 0, &status));
}

struct SplittableType { };

template<class T>
typename std::enable_if<std::is_base_of<SplittableType, T>::value, void>::type
safe_enumerate() { T::enumerate(); }

template<class T>
typename std::enable_if<!std::is_base_of<SplittableType, T>::value, void>::type
safe_enumerate() { }

#define PRINT_IT(r, data, elem) \
  std::cout << "Data Element "; \
  std::cout << std::string(indent, '>') << " " << demangledName<decltype(elem)>() << " " << BOOST_PP_STRINGIZE(elem) << std::endl; \
  if(std::is_base_of<SplittableType, decltype(elem)>::value) \
  { \
    indent+=1; \
    safe_enumerate<decltype(elem)>(); \
    indent-=1; \
  } 

#define NRT_MESSAGE_DATA(...) \
  static void enumerate()  \
  { \
    BOOST_PP_SEQ_FOR_EACH(PRINT_IT, , BOOST_PP_VARIADIC_TO_SEQ(__VA_ARGS__)) \
  }

struct Image {};
struct Matrix {};

struct CalibratedImageMessage : SplittableType
{
  Image img;
  Matrix calibration;

  NRT_MESSAGE_DATA (img, calibration);
};

struct StereoImageMessage : SplittableType
{
  CalibratedImageMessage left;
  CalibratedImageMessage right;

  NRT_MESSAGE_DATA (left, right);
};

struct StampedStereoImageMessage : SplittableType
{
  StereoImageMessage stereo;
  double time;

  NRT_MESSAGE_DATA(stereo, time);
};

int main()
{
  StampedStereoImageMessage msg;
  std::cout << "Data Members for " << demangledName<decltype(msg)>() << std::endl;
  msg.enumerate();

  return 0;
}