CLogFileRecord_unittest.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/nav/reactive/CLogFileRecord.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>

using namespace mrpt;
using namespace mrpt::nav;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace std;

const mrpt::rtti::TRuntimeClassId* lstClasses[] = {
    CLASS_ID(CLogFileRecord),
};

// Create a set of classes, then serialize and deserialize to test possible
// bugs:
TEST(NavTests, Serialization_WriteReadToMem)
{
    for (auto& cl : lstClasses)
    {
        try
        {
            CMemoryStream buf;
            auto arch = archiveFrom(buf);
            {
                auto o =
                    mrpt::ptr_cast<CSerializable>::from(cl->createObject());
                arch << *o;
            }

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

// Also try to convert them to octect vectors:
TEST(SerializeTestObs, WriteReadToOctectVectors)
{
    for (auto& cl : lstClasses)
    {
        try
        {
            std::vector<uint8_t> buf;
            {
                auto o =
                    mrpt::ptr_cast<CSerializable>::from(cl->createObject());
                mrpt::serialization::ObjectToOctetVector(o.get(), buf);
            }

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

// Load test datalog
TEST(NavTests, NavLogLoadFromTestFile)
{
    const string navlog_file =
        UNITTEST_BASEDIR + string("/tests/serialize_test_data.reactivenavlog");
    if (!mrpt::system::fileExists(navlog_file))
    {
        cerr << "WARNING: Skipping test due to missing file: " << navlog_file
             << "\n";
        return;
    }

    CFileGZInputStream f(navlog_file);
    auto arch = archiveFrom(f);

    try
    {
        for (int i = 0; i < 2; i++)
        {
            mrpt::nav::CLogFileRecord lfr;
            arch.ReadObject(&lfr);
        }
    }
    catch (const std::exception& e)
    {
        FAIL() << "Failed to parse stored navlog. Exception was:\n"
               << e.what() << endl;
    }
}