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

#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/nav/reactive/CLogFileRecord.h>
#include <mrpt/system/filesystem.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::nav;
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[] = {
        CLASS_ID(CLogFileRecord),
};

// Create a set of classes, then serialize and deserialize to test possible
// bugs:
TEST(NavTests, Serialization_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;
                }
        }
}

// Load test datalog
TEST(NavTests, NavLogLoadFromTestFile)
{
        const string navlog_file =
                MRPT_GLOBAL_UNITTEST_SRC_DIR +
                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);

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