67 lines
1.9 KiB
C++
Executable File
67 lines
1.9 KiB
C++
Executable File
/*
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* Copyright 2016 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.h"
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#include <errno.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/proto/trajectory.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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class ProtoStreamTest : public ::testing::Test {
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protected:
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void SetUp() override { test_directory_ = "."; }
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std::string test_directory_;
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};
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TEST_F(ProtoStreamTest, WriteAndReadBack) {
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const std::string test_file = test_directory_ + "/test_trajectory.pbstream";
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{
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ProtoStreamWriter writer(test_file);
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for (int i = 0; i != 10; ++i) {
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mapping::proto::Trajectory trajectory;
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trajectory.add_node()->set_timestamp(i);
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writer.WriteProto(trajectory);
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}
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ASSERT_TRUE(writer.Close());
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}
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{
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ProtoStreamReader reader(test_file);
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for (int i = 0; i != 10; ++i) {
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mapping::proto::Trajectory trajectory;
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ASSERT_TRUE(reader.ReadProto(&trajectory));
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ASSERT_EQ(1, trajectory.node_size());
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EXPECT_EQ(i, trajectory.node(0).timestamp());
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}
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mapping::proto::Trajectory trajectory;
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EXPECT_FALSE(reader.ReadProto(&trajectory));
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}
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remove(test_file.c_str());
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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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