maps/src/maps/serializations_unittest.cpp

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

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

#include <CTraitsTest.h>
#include <gtest/gtest.h>
#include <mrpt/io/CMemoryStream.h>
#include <mrpt/serialization/CArchive.h>

using namespace mrpt;
using namespace mrpt::maps;
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(CObservationPointCloud);
TEST_CLASS_MOVE_COPY_CTORS(CSinCosLookUpTableFor2DScans);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRotatingScan);

// 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(CObservationPointCloud),
        CLASS_ID(CObservationRotatingScan)};

    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;
        }
    }
}