144 lines
5.8 KiB
C++
Executable File
144 lines
5.8 KiB
C++
Executable File
/*
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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/proto_stream_deserializer.h"
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#include <memory>
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#include "cartographer/io/internal/in_memory_proto_stream.h"
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#include "cartographer/io/internal/testing/test_helpers.h"
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#include "glog/logging.h"
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#include "gmock/gmock.h"
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#include "google/protobuf/text_format.h"
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#include "google/protobuf/util/message_differencer.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 ::cartographer::io::testing::ProtoFromStringOrDie;
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using ::cartographer::io::testing::ProtoReaderFromStrings;
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using ::cartographer::mapping::proto::SerializationHeader;
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using ::cartographer::mapping::proto::SerializedData;
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using ::google::protobuf::Message;
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using ::google::protobuf::util::MessageDifferencer;
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using ::testing::Eq;
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using ::testing::Not;
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constexpr char kSerializationHeaderProtoString[] = "format_version: 1";
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constexpr char kUnsupportedSerializationHeaderProtoString[] =
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"format_version: 123";
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constexpr char kPoseGraphProtoString[] = "pose_graph {}";
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constexpr char kAllTrajectoryBuilderOptionsProtoString[] =
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"all_trajectory_builder_options {}";
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constexpr char kSubmapProtoString[] = "submap {}";
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constexpr char kNodeProtoString[] = "node {}";
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constexpr char kTrajectoryDataProtoString[] = "trajectory_data {}";
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constexpr char kImuDataProtoString[] = "imu_data {}";
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constexpr char kOdometryDataProtoString[] = "odometry_data {}";
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constexpr char kFixedFramePoseDataProtoString[] = "fixed_frame_pose_data {}";
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constexpr char kLandmarkDataProtoString[] = "landmark_data {}";
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class ProtoStreamDeserializerTest : public ::testing::Test {
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protected:
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std::unique_ptr<InMemoryProtoStreamReader> reader_;
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};
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// This test checks if the serialization works.
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TEST_F(ProtoStreamDeserializerTest, WorksOnGoldenTextStream) {
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// Load text proto into in_memory_reader.
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reader_ = ProtoReaderFromStrings(kSerializationHeaderProtoString,
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{
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kPoseGraphProtoString,
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kAllTrajectoryBuilderOptionsProtoString,
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kSubmapProtoString,
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kNodeProtoString,
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kTrajectoryDataProtoString,
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kImuDataProtoString,
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kOdometryDataProtoString,
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kFixedFramePoseDataProtoString,
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kLandmarkDataProtoString,
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});
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io::ProtoStreamDeserializer deserializer(reader_.get());
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EXPECT_TRUE(MessageDifferencer::Equals(
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deserializer.header(), ProtoFromStringOrDie<SerializationHeader>(
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kSerializationHeaderProtoString)));
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EXPECT_TRUE(MessageDifferencer::Equals(
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deserializer.pose_graph(),
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ProtoFromStringOrDie<SerializedData>(kPoseGraphProtoString)
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.pose_graph()));
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EXPECT_TRUE(
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MessageDifferencer::Equals(deserializer.all_trajectory_builder_options(),
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ProtoFromStringOrDie<SerializedData>(
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kAllTrajectoryBuilderOptionsProtoString)
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.all_trajectory_builder_options()));
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SerializedData serialized_data;
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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// TODO(sebastianklose): Add matcher for protos in common place and use here.
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kSubmapProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data, ProtoFromStringOrDie<SerializedData>(kNodeProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kTrajectoryDataProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kImuDataProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kOdometryDataProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kFixedFramePoseDataProtoString)));
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EXPECT_TRUE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(MessageDifferencer::Equals(
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serialized_data,
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ProtoFromStringOrDie<SerializedData>(kLandmarkDataProtoString)));
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EXPECT_FALSE(deserializer.ReadNextSerializedData(&serialized_data));
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EXPECT_TRUE(reader_->eof());
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}
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TEST_F(ProtoStreamDeserializerTest, FailsIfVersionNotSupported) {
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reader_ =
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ProtoReaderFromStrings(kUnsupportedSerializationHeaderProtoString, {});
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EXPECT_DEATH(absl::make_unique<ProtoStreamDeserializer>(reader_.get()),
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"Unsupported serialization format");
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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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