CSerializable_unittest.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#define MRPT_NO_WARN_BIG_HDR  // Yes, we really want to include all classes.
#include <mrpt/obs.h>

#include <mrpt/utils/CMemoryStream.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;

// Defined in tests/test_main.cpp
namespace mrpt { namespace utils {
        extern std::string MRPT_GLOBAL_UNITTEST_SRC_DIR;
  }
}

const mrpt::utils::TRuntimeClassId* lstClasses[] = {
        // Observations:
        CLASS_ID(CObservation2DRangeScan),
        CLASS_ID(CObservation3DRangeScan),
        CLASS_ID(CObservationRGBD360),
        CLASS_ID(CObservationBearingRange),
        CLASS_ID(CObservationBatteryState),
        CLASS_ID(CObservationWirelessPower),
        CLASS_ID(CObservationRFID),
        CLASS_ID(CObservationBeaconRanges),
        CLASS_ID(CObservationComment),
        CLASS_ID(CObservationGasSensors),
        CLASS_ID(CObservationGPS),
        CLASS_ID(CObservationReflectivity),
        CLASS_ID(CObservationIMU),
        CLASS_ID(CObservationOdometry),
        CLASS_ID(CObservationRange),
#if MRPT_HAS_OPENCV   // These classes need CImage serialization
        CLASS_ID(CObservationImage),
        CLASS_ID(CObservationStereoImages),
#endif
        CLASS_ID(CObservationCANBusJ1939),
        CLASS_ID(CObservationRawDAQ),
        CLASS_ID(CObservation6DFeatures),
        CLASS_ID(CObservationVelodyneScan),
        // Actions:
        CLASS_ID(CActionRobotMovement2D),
        CLASS_ID(CActionRobotMovement3D)
        };


// Create a set of classes, then serialize and deserialize to test possible bugs:
TEST(SerializeTestObs, WriteReadToMem)
{
        for (size_t i=0;i<sizeof(lstClasses)/sizeof(lstClasses[0]);i++)
        {
                try
                {
                        CMemoryStream  buf;
                        {
                                CSerializable* o = static_cast<CSerializable*>(lstClasses[i]->createObject());
                                buf << *o;
                                delete o;
                        }

                        CSerializablePtr recons;
                        buf.Seek(0);
                        buf >> recons;
                }
                catch(std::exception &e)
                {
                        GTEST_FAIL() <<
                                "Exception during serialization test for class '"<< lstClasses[i]->className <<"':\n" << e.what() << endl;
                }
        }
}

// Also try to convert them to octect vectors:
TEST(SerializeTestObs, WriteReadToOctectVectors)
{
        for (size_t i=0;i<sizeof(lstClasses)/sizeof(lstClasses[0]);i++)
        {
                try
                {
                        mrpt::vector_byte buf;
                        {
                                CSerializable* o = static_cast<CSerializable*>(lstClasses[i]->createObject());
                                mrpt::utils::ObjectToOctetVector(o,buf);
                                delete o;
                        }

                        CSerializablePtr recons;
                        mrpt::utils::OctetVectorToObject(buf,recons);
                }
                catch(std::exception &e)
                {
                        GTEST_FAIL() <<
                                "Exception during serialization test for class '"<< lstClasses[i]->className <<"':\n" << e.what() << endl;
                }
        }
}