maps/src/maps/serializations_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/maps.h>
 
#include <mrpt/io/CMemoryStream.h>
#include <mrpt/serialization/CArchive.h>
#include <gtest/gtest.h>
#include <CTraitsTest.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(CSimplePointsMap);
TEST_CLASS_MOVE_COPY_CTORS(CRandomFieldGridMap3D);
TEST_CLASS_MOVE_COPY_CTORS(CWeightedPointsMap);
TEST_CLASS_MOVE_COPY_CTORS(COctoMap);
TEST_CLASS_MOVE_COPY_CTORS(CColouredOctoMap);
 
// 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(CSimplePointsMap),
                CLASS_ID(CRandomFieldGridMap3D),
                CLASS_ID(CWeightedPointsMap),
                CLASS_ID(COctoMap),
                CLASS_ID(CColouredOctoMap)};
 
        for (size_t i = 0; i < sizeof(lstClasses) / sizeof(lstClasses[0]); i++)
        {
                try
                {
                        CMemoryStream buf;
                        auto arch = mrpt::serialization::archiveFrom(buf);
                        {
                                CSerializable* o =
                                        static_cast<CSerializable*>(lstClasses[i]->createObject());
                                arch << *o;
                                delete o;
                        }
 
                        buf.Seek(0);
                        std::variant<
                                CBeacon,
                                CBeaconMap,
                                CColouredPointsMap,
                                CGasConcentrationGridMap2D,
                                CWirelessPowerGridMap2D,
                                CHeightGridMap2D,
                                CReflectivityGridMap2D,
                                COccupancyGridMap2D,
                                CSimplePointsMap,
                                CRandomFieldGridMap3D,
                                CWeightedPointsMap,
                                COctoMap,
                                CColouredOctoMap>  recons;
                        arch >> recons;
                }
                catch (std::exception& e)
                {
                        GTEST_FAIL() << "Exception during serialization test for class '"
                                                 << lstClasses[i]->className << "':\n"
                                                 << e.what() << endl;
                }
        }
}