84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/io/in_memory_proto_stream.h"
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#include "cartographer/mapping/proto/pose_graph.pb.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace io {
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namespace {
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using common::make_unique;
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using google::protobuf::Message;
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using mapping::proto::PoseGraph;
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using mapping::proto::SerializedData;
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class InMemoryProtoStreamTest : public ::testing::Test {
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protected:
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void SetUp() override {
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pose_graph_.add_trajectory()->set_trajectory_id(1);
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serialized_data_.mutable_odometry_data()->set_trajectory_id(2);
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}
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PoseGraph pose_graph_;
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SerializedData serialized_data_;
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};
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TEST_F(InMemoryProtoStreamTest, ReadStreamInitializedFromQueue) {
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std::queue<std::unique_ptr<Message>> proto_queue;
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proto_queue.push(make_unique<PoseGraph>(pose_graph_));
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proto_queue.push(make_unique<SerializedData>(serialized_data_));
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InMemoryProtoStreamReader reader(std::move(proto_queue));
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PoseGraph actual_pose_graph;
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EXPECT_FALSE(reader.eof());
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EXPECT_TRUE(reader.ReadProto(&actual_pose_graph));
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EXPECT_EQ(1, actual_pose_graph.trajectory(0).trajectory_id());
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SerializedData actual_serialized_data;
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EXPECT_FALSE(reader.eof());
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EXPECT_TRUE(reader.ReadProto(&actual_serialized_data));
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EXPECT_EQ(2, actual_serialized_data.odometry_data().trajectory_id());
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EXPECT_TRUE(reader.eof());
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}
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TEST_F(InMemoryProtoStreamTest, ReadStreamInitializedIncrementally) {
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InMemoryProtoStreamReader reader;
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reader.AddProto(pose_graph_);
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reader.AddProto(serialized_data_);
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PoseGraph actual_pose_graph;
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EXPECT_FALSE(reader.eof());
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EXPECT_TRUE(reader.ReadProto(&actual_pose_graph));
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EXPECT_EQ(1, actual_pose_graph.trajectory(0).trajectory_id());
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SerializedData actual_serialized_data;
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EXPECT_FALSE(reader.eof());
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EXPECT_TRUE(reader.ReadProto(&actual_serialized_data));
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EXPECT_EQ(2, actual_serialized_data.odometry_data().trajectory_id());
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EXPECT_TRUE(reader.eof());
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}
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} // namespace
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} // namespace io
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} // namespace cartographer
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