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>
#include <mrpt/utils/CTraitsTest.h>

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

#define TEST_CLASS_MOVE_COPY_CTORS(_classname) \
        template class mrpt::utils::CTraitsTest<_classname>

TEST_CLASS_MOVE_COPY_CTORS(CObservation2DRangeScan);
TEST_CLASS_MOVE_COPY_CTORS(CObservation3DRangeScan);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRGBD360);
TEST_CLASS_MOVE_COPY_CTORS(CObservationBearingRange);
TEST_CLASS_MOVE_COPY_CTORS(CObservationBatteryState);
TEST_CLASS_MOVE_COPY_CTORS(CObservationWirelessPower);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRFID);
TEST_CLASS_MOVE_COPY_CTORS(CObservationBeaconRanges);
TEST_CLASS_MOVE_COPY_CTORS(CObservationComment);
TEST_CLASS_MOVE_COPY_CTORS(CObservationGasSensors);
TEST_CLASS_MOVE_COPY_CTORS(CObservationGPS);
TEST_CLASS_MOVE_COPY_CTORS(CObservationReflectivity);
TEST_CLASS_MOVE_COPY_CTORS(CObservationIMU);
TEST_CLASS_MOVE_COPY_CTORS(CObservationOdometry);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRange);
#if MRPT_HAS_OPENCV  // These classes need CImage serialization
TEST_CLASS_MOVE_COPY_CTORS(CObservationImage);
TEST_CLASS_MOVE_COPY_CTORS(CObservationStereoImages);
#endif
TEST_CLASS_MOVE_COPY_CTORS(CObservationCANBusJ1939);
TEST_CLASS_MOVE_COPY_CTORS(CObservationRawDAQ);
TEST_CLASS_MOVE_COPY_CTORS(CObservation6DFeatures);
TEST_CLASS_MOVE_COPY_CTORS(CObservationVelodyneScan);
TEST_CLASS_MOVE_COPY_CTORS(CActionRobotMovement2D);
TEST_CLASS_MOVE_COPY_CTORS(CActionRobotMovement3D);

// 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;
                        }

                        CSerializable::Ptr 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;
                        }

                        CSerializable::Ptr 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;
                }
        }
}