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