CSerializable_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/obs.h>
 
#include <mrpt/io/CMemoryStream.h>
#include <gtest/gtest.h>
#include <CTraitsTest.h>
#include <sstream>
 
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::io;
using namespace mrpt::math;
using namespace mrpt::serialization;
using namespace std;
 
#define TEST_CLASS_MOVE_COPY_CTORS(_classname) \
        template class mrpt::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);
 
const mrpt::rtti::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(Observations, WriteReadToMem)
{
        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;
                        }
 
                        CSerializable::Ptr recons;
                        buf.Seek(0);
                        arch >> 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(Observations, WriteReadToOctectVectors)
{
        for (size_t i = 0; i < sizeof(lstClasses) / sizeof(lstClasses[0]); i++)
        {
                try
                {
                        std::vector<uint8_t> buf;
                        {
                                CSerializable* o =
                                        static_cast<CSerializable*>(lstClasses[i]->createObject());
                                mrpt::serialization::ObjectToOctetVector(o, buf);
                                delete o;
                        }
 
                        CSerializable::Ptr recons;
                        mrpt::serialization::OctetVectorToObject(buf, recons);
                }
                catch (std::exception& e)
                {
                        GTEST_FAIL() << "Exception during serialization test for class '"
                                                 << lstClasses[i]->className << "':\n"
                                                 << e.what() << endl;
                }
        }
}
 
// Try to invoke a copy ctor and = operator:
template <class T>
void run_copy_tests()
{
        std::stringstream ss;
        {
                auto ptr_org = T::Create();
                auto ptr_copy_op = T::Create();
                *ptr_copy_op = *ptr_org;  // copy op
                ptr_org.reset();
                // make sure the copy works without erroneous mem accesses,etc.
                ptr_copy_op->getDescriptionAsText(ss);
        }
        {
                auto ptr_org = T::Create();
                auto ptr_copy_ctor = T::Create(*ptr_org);  // copy ctor
                ptr_org.reset();
                // make sure the copy works without erroneous mem accesses,etc.
                ptr_copy_ctor->getDescriptionAsText(ss);
        }
}
 
TEST(Observations, CopyCtorAssignOp)
{
        run_copy_tests<CObservation2DRangeScan>();
        run_copy_tests<CObservation3DRangeScan>();
        run_copy_tests<CObservationGPS>();
        run_copy_tests<CObservationIMU>();
        run_copy_tests<CObservationOdometry>();
}