git commit -m "first commit for v2"

Localizations/Libraries/Ros/map_server/test/utest.cpp

@@ -0,0 +1,149 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* Author: Brian Gerkey */
+
+#include <stdexcept> // for std::runtime_error
+#include <gtest/gtest.h>
+#include "map_server/image_loader.h"
+#include "test_constants.h"
+
+/* Try to load a valid PNG file.  Succeeds if no exception is thrown, and if
+ * the loaded image matches the known dimensions and content of the file.
+ *
+ * This test can fail on OS X, due to an apparent limitation of the
+ * underlying SDL_Image library. */
+TEST(MapServer, loadValidPNG)
+{
+  try
+  {
+    nav_msgs::GetMap::Response map_resp;
+    double origin[3] = { 0.0, 0.0, 0.0 };
+    map_server::loadMapFromFile(&map_resp, g_valid_png_file, g_valid_image_res, false, 0.65, 0.1, origin);
+    EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res);
+    EXPECT_EQ(map_resp.map.info.width, g_valid_image_width);
+    EXPECT_EQ(map_resp.map.info.height, g_valid_image_height);
+    for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++)
+      EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]);
+  }
+  catch(...)
+  {
+    ADD_FAILURE() << "Uncaught exception : " << "This is OK on OS X";
+  }
+}
+
+/* Try to load a valid BMP file.  Succeeds if no exception is thrown, and if
+ * the loaded image matches the known dimensions and content of the file. */
+TEST(MapServer, loadValidBMP)
+{
+  try
+  {
+    nav_msgs::GetMap::Response map_resp;
+    double origin[3] = { 0.0, 0.0, 0.0 };
+    map_server::loadMapFromFile(&map_resp, g_valid_bmp_file, g_valid_image_res, false, 0.65, 0.1, origin);
+    EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res);
+    EXPECT_EQ(map_resp.map.info.width, g_valid_image_width);
+    EXPECT_EQ(map_resp.map.info.height, g_valid_image_height);
+    for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++)
+      EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]);
+  }
+  catch(...)
+  {
+    ADD_FAILURE() << "Uncaught exception";
+  }
+}
+
+/* Try to load an invalid file.  Succeeds if a std::runtime_error exception
+ * is thrown. */
+TEST(MapServer, loadInvalidFile)
+{
+  try
+  {
+    nav_msgs::GetMap::Response map_resp;
+    double origin[3] = { 0.0, 0.0, 0.0 };
+    map_server::loadMapFromFile(&map_resp, "foo", 0.1, false, 0.65, 0.1, origin);
+  }
+  catch(std::runtime_error &e)
+  {
+    SUCCEED();
+    return;
+  }
+  catch(...)
+  {
+    FAIL() << "Uncaught exception";
+  }
+  ADD_FAILURE() << "Didn't throw exception as expected";
+}
+
+std::vector<unsigned int> countValues(const nav_msgs::GetMap::Response& map_resp)
+{
+  std::vector<unsigned int> counts(256, 0);
+  for (unsigned int i = 0; i < map_resp.map.data.size(); i++)
+  {
+    unsigned char value = static_cast<unsigned char>(map_resp.map.data[i]);
+    counts[value]++;
+  }
+  return counts;
+}
+
+TEST(MapServer, testMapMode)
+{
+  nav_msgs::GetMap::Response map_resp;
+  double origin[3] = { 0.0, 0.0, 0.0 };
+
+  map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, TRINARY);
+  std::vector<unsigned int> trinary_counts = countValues(map_resp);
+  EXPECT_EQ(90u, trinary_counts[100]);
+  EXPECT_EQ(26u, trinary_counts[0]);
+  EXPECT_EQ(140u, trinary_counts[255]);
+
+  map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, SCALE);
+  std::vector<unsigned int> scale_counts = countValues(map_resp);
+  EXPECT_EQ(90u, scale_counts[100]);
+  EXPECT_EQ(26u, scale_counts[0]);
+  unsigned int scaled_values = 0;
+  for (unsigned int i = 1; i < 100; i++)
+  {
+    scaled_values += scale_counts[i];
+  }
+  EXPECT_EQ(140u, scaled_values);
+
+  map_server::loadMapFromFile(&map_resp, g_spectrum_png_file, 0.1, false, 0.65, 0.1, origin, RAW);
+  std::vector<unsigned int> raw_counts = countValues(map_resp);
+  for (unsigned int i = 0; i < raw_counts.size(); i++)
+  {
+    EXPECT_EQ(1u, raw_counts[i]) << i;
+  }
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}