CObject::GetRuntimeClassIdStatic(): static variables moved to constexpr

MRPT · Sep 8, 2024 · 76fc902 · 76fc902
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diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -1,8 +1,15 @@
 \page changelog Change Log
 
 # Version 2.13.9: UNRELEASED
+- Changes in libraries:
+  - \ref mrpt_rtti_grp:
+    - mrpt::rtti::CObject::GetRuntimeClassIdStatic() no longer depends on static variables, but on constexpr. This totally removes the possibility of initialization order fiasco while registering classes.
+    - **IMPORTANT CHANGE**: To make the change above possible, these macros have changed:
+      - `DEFINE_VIRTUAL_SERIALIZABLE(class)` ==>`DEFINE_VIRTUAL_SERIALIZABLE(class, namespace)`
+      - `DEFINE_VIRTUAL_MRPT_OBJECT(class)` ==>`DEFINE_VIRTUAL_MRPT_OBJECT(class, namespace)`
 - BUG FIXES:
   - Fix recursive mutex lock if calling mrpt::opengl::CPointCloud::insertPoint() with signatures for mrpt::math::TPoint3D.
+  - Fix potential initialization-order fiasco accessing GetRuntimeClassIdStatic() in clang (see change above).
 
 # Version 2.13.8: Released Sep 7th, 2024
 - Changes in libraries:

diff --git a/libs/kinematics/include/mrpt/kinematics/CVehicleVelCmd.h b/libs/kinematics/include/mrpt/kinematics/CVehicleVelCmd.h
@@ -21,7 +21,7 @@ namespace mrpt::kinematics
  * \ingroup mrpt_kinematics_grp */
 class CVehicleVelCmd : public mrpt::serialization::CSerializable, public mrpt::Stringifyable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd)
+  DEFINE_VIRTUAL_SERIALIZABLE(CVehicleVelCmd, mrpt::kinematics)
  public:
   CVehicleVelCmd();
   CVehicleVelCmd(const CVehicleVelCmd& other);

diff --git a/libs/maps/include/mrpt/maps/CPointsMap.h b/libs/maps/include/mrpt/maps/CPointsMap.h
@@ -75,7 +75,7 @@ class CPointsMap :
     public mrpt::opengl::PLY_Exporter,
     public mrpt::maps::NearestNeighborsCapable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPointsMap, mrpt::maps)
   // This must be added for declaration of MEX-related functions
   DECLARE_MEX_CONVERSION
 

diff --git a/libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h b/libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h
@@ -158,7 +158,7 @@ class CRandomFieldGridMap2D :
 {
   using BASE = mrpt::containers::CDynamicGrid<TRandomFieldCell>;
 
-  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D, mrpt::maps)
  public:
   /** Calls the base CMetricMap::clear
    * Declared here to avoid ambiguity between the two clear() in both base

diff --git a/libs/nav/include/mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h b/libs/nav/include/mrpt/nav/holonomic/CAbstractHolonomicReactiveMethod.h
@@ -28,7 +28,7 @@ namespace mrpt::nav
  */
 class CAbstractHolonomicReactiveMethod : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod)
+  DEFINE_VIRTUAL_SERIALIZABLE(CAbstractHolonomicReactiveMethod, mrpt::nav)
  public:
   /** Input parameters for CAbstractHolonomicReactiveMethod::navigate() */
   struct NavInput

diff --git a/libs/nav/include/mrpt/nav/holonomic/CHolonomicLogFileRecord.h b/libs/nav/include/mrpt/nav/holonomic/CHolonomicLogFileRecord.h
@@ -23,7 +23,7 @@ namespace mrpt::nav
  */
 class CHolonomicLogFileRecord : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CHolonomicLogFileRecord)
+  DEFINE_VIRTUAL_SERIALIZABLE(CHolonomicLogFileRecord, mrpt::nav)
  public:
   /** Final [N-1] and earlier stages [0...N-1] evaluation scores for each
    * direction, in the same order of TP-Obstacles. May be not filled by all

diff --git a/libs/nav/include/mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h b/libs/nav/include/mrpt/nav/reactive/CMultiObjectiveMotionOptimizerBase.h
@@ -23,7 +23,7 @@ namespace mrpt::nav
  */
 class CMultiObjectiveMotionOptimizerBase : public mrpt::rtti::CObject
 {
-  DEFINE_VIRTUAL_MRPT_OBJECT(CMultiObjectiveMotionOptimizerBase)
+  DEFINE_VIRTUAL_MRPT_OBJECT(CMultiObjectiveMotionOptimizerBase, mrpt::nav)
  public:
   /** Class factory from C++ class name */
   static CMultiObjectiveMotionOptimizerBase::Ptr Factory(const std::string& className) noexcept;

diff --git a/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h b/libs/nav/include/mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h
@@ -80,7 +80,7 @@ class CParameterizedTrajectoryGenerator :
     public mrpt::serialization::CSerializable,
     public mrpt::config::CLoadableOptions
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CParameterizedTrajectoryGenerator)
+  DEFINE_VIRTUAL_SERIALIZABLE(CParameterizedTrajectoryGenerator, mrpt::nav)
  public:
   /** Default ctor. Must call `loadFromConfigFile()` before initialization */
   CParameterizedTrajectoryGenerator() = default;

diff --git a/libs/obs/include/mrpt/maps/CMetricMap.h b/libs/obs/include/mrpt/maps/CMetricMap.h
@@ -76,7 +76,7 @@ class CMetricMap :
     public mrpt::Stringifyable,
     public mrpt::opengl::Visualizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CMetricMap)
+  DEFINE_VIRTUAL_SERIALIZABLE(CMetricMap, mrpt::obs)
 
  private:
   /** Internal method called by clear() */

diff --git a/libs/obs/include/mrpt/obs/CAction.h b/libs/obs/include/mrpt/obs/CAction.h
@@ -23,7 +23,7 @@ namespace mrpt::obs
  */
 class CAction : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CAction)
+  DEFINE_VIRTUAL_SERIALIZABLE(CAction, mrpt::obs)
  public:
   /** Default ctor */
   CAction() = default;

diff --git a/libs/obs/include/mrpt/obs/CObservation.h b/libs/obs/include/mrpt/obs/CObservation.h
@@ -49,7 +49,7 @@ static constexpr int INVALID_LANDMARK_ID = -1;
  */
 class CObservation : public mrpt::serialization::CSerializable, public mrpt::Stringifyable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CObservation)
+  DEFINE_VIRTUAL_SERIALIZABLE(CObservation, mrpt::obs)
 
  protected:
   /** Swap with another observation, ONLY the data defined here in the base

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizable.h b/libs/opengl/include/mrpt/opengl/CRenderizable.h
@@ -70,7 +70,7 @@ enum class TCullFace : uint8_t
  */
 class CRenderizable : public mrpt::serialization::CSerializable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizable)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizable, mrpt::opengl)
 
   friend class mrpt::opengl::Viewport;
   friend class mrpt::opengl::CSetOfObjects;

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderPoints.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderPoints.h
@@ -37,7 +37,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderPoints : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderPoints)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderPoints, mrpt::opengl)
 
  public:
   CRenderizableShaderPoints() = default;

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderText.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderText.h
@@ -26,7 +26,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderText : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderText)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderText, mrpt::opengl)
 
  public:
   CRenderizableShaderText() = default;

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h
@@ -27,7 +27,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTexturedTriangles)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTexturedTriangles, mrpt::opengl)
 
  public:
   CRenderizableShaderTexturedTriangles() = default;

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h
@@ -26,7 +26,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderTriangles : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTriangles)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTriangles, mrpt::opengl)
 
  public:
   CRenderizableShaderTriangles() = default;

diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h
@@ -25,7 +25,7 @@ namespace mrpt::opengl
  */
 class CRenderizableShaderWireFrame : public virtual CRenderizable
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderWireFrame)
+  DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderWireFrame, mrpt::opengl)
 
  public:
   CRenderizableShaderWireFrame() = default;

diff --git a/libs/poses/include/mrpt/poses/CPoint2DPDF.h b/libs/poses/include/mrpt/poses/CPoint2DPDF.h
@@ -34,7 +34,7 @@ class CPoint2DPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPoint2D, 2>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPoint2DPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPoint2DPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

diff --git a/libs/poses/include/mrpt/poses/CPointPDF.h b/libs/poses/include/mrpt/poses/CPointPDF.h
@@ -36,7 +36,7 @@ class CPointPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPoint3D, 3>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPointPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPointPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

diff --git a/libs/poses/include/mrpt/poses/CPose3DPDF.h b/libs/poses/include/mrpt/poses/CPose3DPDF.h
@@ -37,7 +37,7 @@ class CPose3DPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose3D, 6>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

diff --git a/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h b/libs/poses/include/mrpt/poses/CPose3DQuatPDF.h
@@ -42,7 +42,7 @@ class CPose3DQuatPDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose3DQuat, 7>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPose3DQuatPDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

diff --git a/libs/poses/include/mrpt/poses/CPosePDF.h b/libs/poses/include/mrpt/poses/CPosePDF.h
@@ -37,7 +37,7 @@ class CPosePDF :
     public mrpt::serialization::CSerializable,
     public mrpt::math::CProbabilityDensityFunction<CPose2D, 3>
 {
-  DEFINE_VIRTUAL_SERIALIZABLE(CPosePDF)
+  DEFINE_VIRTUAL_SERIALIZABLE(CPosePDF, mrpt::poses)
 
  public:
   /** Copy operator, translating if necessary (for example, between particles

diff --git a/libs/rtti/include/mrpt/rtti/CObject.h b/libs/rtti/include/mrpt/rtti/CObject.h
@@ -12,7 +12,6 @@
 #include <mrpt/core/safe_pointers.h>
 #include <mrpt/typemeta/static_string.h>  // literal()
 
-#include <functional>
 #include <memory>
 #include <vector>
 
@@ -32,11 +31,12 @@ class CObject;
 struct TRuntimeClassId
 {
   using Ptr = safe_ptr<TRuntimeClassId>;
-  const char* className;
+  const char* className = nullptr;
   /** Create an object of the related class, or nullptr if it is virtual. */
-  std::function<std::shared_ptr<CObject>(void)> ptrCreateObject;
+  std::shared_ptr<CObject> (*ptrCreateObject)() = nullptr;
+
   /** Gets the base class runtime id. */
-  const TRuntimeClassId* (*getBaseClass)();
+  const TRuntimeClassId* (*getBaseClass)() = nullptr;
 
   // Operations
   std::shared_ptr<CObject> createObject() const;
@@ -176,7 +176,7 @@ class CObject
 {
  protected:
   static mrpt::rtti::TRuntimeClassId* _GetBaseClass();
-  static const mrpt::rtti::TRuntimeClassId runtimeClassId;
+  static constexpr mrpt::rtti::TRuntimeClassId runtimeClassId = {"CObject", nullptr, nullptr};
 
  public:
   using Ptr = std::shared_ptr<CObject>;
@@ -206,10 +206,6 @@ inline mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr() const
 #define DEFINE_MRPT_OBJECT(class_name, NameSpace)                                \
   /*! @name RTTI stuff  */                                                       \
   /*! @{  */                                                                     \
- protected:                                                                      \
-  static const mrpt::rtti::TRuntimeClassId* _GetBaseClass();                     \
-  static const mrpt::rtti::TRuntimeClassId runtimeClassId;                       \
-                                                                                 \
  public:                                                                         \
   /*! A type for the associated smart pointer */                                 \
   using Ptr = std::shared_ptr<NameSpace::class_name>;                            \
@@ -240,49 +236,55 @@ inline mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr() const
   {                                                                              \
     return std::make_unique<class_name>(std::forward<Args>(args)...);            \
   }                                                                              \
+                                                                                 \
+ protected:                                                                      \
+  static const mrpt::rtti::TRuntimeClassId* _GetBaseClass();                     \
+  static constexpr mrpt::rtti::TRuntimeClassId runtimeClassId = {                \
+      #NameSpace "::" #class_name, NameSpace::class_name::CreateObject,          \
+      &class_name::_GetBaseClass};                                               \
+                                                                                 \
   /*! @} */                                                                      \
  public:
 
-#define INTERNAL_IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace, class_registry_name)    \
-  mrpt::rtti::CObject::Ptr NameSpace::class_name::CreateObject()                             \
-  {                                                                                          \
-    return std::static_pointer_cast<CObject>(std::make_shared<NameSpace::class_name>());     \
-  }                                                                                          \
-  const mrpt::rtti::TRuntimeClassId* NameSpace::class_name::_GetBaseClass()                  \
-  {                                                                                          \
-    return CLASS_ID(base);                                                                   \
-  }                                                                                          \
-  const mrpt::rtti::TRuntimeClassId& NameSpace::class_name::GetRuntimeClassIdStatic()        \
-  {                                                                                          \
-    return NameSpace::class_name::runtimeClassId;                                            \
-  }                                                                                          \
-  const mrpt::rtti::TRuntimeClassId NameSpace::class_name::runtimeClassId = {                \
-      class_registry_name, NameSpace::class_name::CreateObject, &class_name::_GetBaseClass}; \
-  const mrpt::rtti::TRuntimeClassId* NameSpace::class_name::GetRuntimeClass() const          \
-  {                                                                                          \
-    return CLASS_ID_NAMESPACE(class_name, NameSpace);                                        \
-  }                                                                                          \
-  mrpt::rtti::CObject* NameSpace::class_name::clone() const                                  \
-  {                                                                                          \
-    return mrpt::rtti::internal::CopyCtor<                                                   \
-        std::is_copy_constructible<NameSpace::class_name>::value>::clone(*this);             \
+#define INTERNAL_IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace)                     \
+  mrpt::rtti::CObject::Ptr NameSpace::class_name::CreateObject()                         \
+  {                                                                                      \
+    return std::static_pointer_cast<CObject>(std::make_shared<NameSpace::class_name>()); \
+  }                                                                                      \
+  const mrpt::rtti::TRuntimeClassId* NameSpace::class_name::_GetBaseClass()              \
+  {                                                                                      \
+    return CLASS_ID(base);                                                               \
+  }                                                                                      \
+  const mrpt::rtti::TRuntimeClassId& NameSpace::class_name::GetRuntimeClassIdStatic()    \
+  {                                                                                      \
+    return NameSpace::class_name::runtimeClassId;                                        \
+  }                                                                                      \
+  const mrpt::rtti::TRuntimeClassId* NameSpace::class_name::GetRuntimeClass() const      \
+  {                                                                                      \
+    return CLASS_ID_NAMESPACE(class_name, NameSpace);                                    \
+  }                                                                                      \
+  mrpt::rtti::CObject* NameSpace::class_name::clone() const                              \
+  {                                                                                      \
+    return mrpt::rtti::internal::CopyCtor<                                               \
+        std::is_copy_constructible<NameSpace::class_name>::value>::clone(*this);         \
   }
 
 /** Must be added to all CObject-derived classes implementation file.
  * This registers class ns1::Foo as "ns1::Foo".
  */
 #define IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace) \
-  INTERNAL_IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace, #NameSpace "::" #class_name)
+  INTERNAL_IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace)
 
 /** This declaration must be inserted in virtual CObject classes
  * definition:
  */
-#define DEFINE_VIRTUAL_MRPT_OBJECT(class_name)                                 \
+#define DEFINE_VIRTUAL_MRPT_OBJECT(class_name, NameSpace)                      \
   /*! @name RTTI stuff  */                                                     \
   /*! @{  */                                                                   \
  protected:                                                                    \
   static const mrpt::rtti::TRuntimeClassId* _GetBaseClass();                   \
-  static const mrpt::rtti::TRuntimeClassId runtimeClassId;                     \
+  static constexpr mrpt::rtti::TRuntimeClassId runtimeClassId = {              \
+      #NameSpace "::" #class_name, nullptr, &class_name::_GetBaseClass};       \
                                                                                \
  public:                                                                       \
   using Ptr = std::shared_ptr<class_name>;                                     \
@@ -294,24 +296,22 @@ inline mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr() const
 /** This must be inserted as implementation of some required members for
  *  virtual CObject classes:
  */
-#define INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base_name, NS, registered_name) \
-  const mrpt::rtti::TRuntimeClassId* NS::class_name::_GetBaseClass()                        \
-  {                                                                                         \
-    return CLASS_ID(base_name);                                                             \
-  }                                                                                         \
-  const mrpt::rtti::TRuntimeClassId NS::class_name::runtimeClassId = {                      \
-      registered_name, nullptr, &NS::class_name::_GetBaseClass};                            \
-  const mrpt::rtti::TRuntimeClassId* NS::class_name::GetRuntimeClass() const                \
-  {                                                                                         \
-    return CLASS_ID(class_name);                                                            \
-  }                                                                                         \
-  const mrpt::rtti::TRuntimeClassId& NS::class_name::GetRuntimeClassIdStatic()              \
-  {                                                                                         \
-    return NS::class_name::runtimeClassId;                                                  \
+#define INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base_name, NS)     \
+  const mrpt::rtti::TRuntimeClassId* NS::class_name::_GetBaseClass()           \
+  {                                                                            \
+    return CLASS_ID(base_name);                                                \
+  }                                                                            \
+  const mrpt::rtti::TRuntimeClassId* NS::class_name::GetRuntimeClass() const   \
+  {                                                                            \
+    return CLASS_ID(class_name);                                               \
+  }                                                                            \
+  const mrpt::rtti::TRuntimeClassId& NS::class_name::GetRuntimeClassIdStatic() \
+  {                                                                            \
+    return NS::class_name::runtimeClassId;                                     \
   }
 
 #define IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base, NS) \
-  INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base, NS, #NS "::" #class_name)
+  INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base, NS)
 
 /** Register all pending classes - to be called just before
  * de-serializing an object, for example. After calling this method,

diff --git a/libs/rtti/src/CObject.cpp b/libs/rtti/src/CObject.cpp
@@ -102,7 +102,6 @@ CObject::Ptr TRuntimeClassId::createObject() const
 // since it has no base class. These methods are defined
 // automatically for derived classes.
 TRuntimeClassId* CObject::_GetBaseClass() { return nullptr; }
-const struct TRuntimeClassId CObject::runtimeClassId = {"CObject", nullptr, nullptr};
 
 mrpt::rtti::CObject::Ptr mrpt::rtti::classFactory(const std::string& className)
 {