map_server: map_server: utest.cpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Brian Gerkey */
00031 
00032 #include <stdexcept> // for std::runtime_error
00033 #include <gtest/gtest.h>
00034 #include "map_server/image_loader.h"
00035 #include "test_constants.h"
00036 
00037 /* Try to load a valid PNG file.  Succeeds if no exception is thrown, and if
00038  * the loaded image matches the known dimensions and content of the file. 
00039  *
00040  * This test can fail on OS X, due to an apparent limitation of the
00041  * underlying SDL_Image library. */
00042 TEST(MapServer, loadValidPNG)
00043 {
00044   try
00045   {
00046     nav_msgs::GetMap::Response map_resp;
00047     double origin[3] = { 0.0, 0.0, 0.0 };
00048     map_server::loadMapFromFile(&map_resp, g_valid_png_file, g_valid_image_res, false, 0.65, 0.1, origin);
00049     EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res);
00050     EXPECT_EQ(map_resp.map.info.width, g_valid_image_width);
00051     EXPECT_EQ(map_resp.map.info.height, g_valid_image_height);
00052     for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++)
00053       EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]);
00054   }
00055   catch(...)
00056   {
00057     ADD_FAILURE() << "Uncaught exception : " << "This is OK on OS X";
00058   }
00059 }
00060 
00061 /* Try to load a valid BMP file.  Succeeds if no exception is thrown, and if
00062  * the loaded image matches the known dimensions and content of the file. */
00063 TEST(MapServer, loadValidBMP)
00064 {
00065   try
00066   {
00067     nav_msgs::GetMap::Response map_resp;
00068     double origin[3] = { 0.0, 0.0, 0.0 };
00069     map_server::loadMapFromFile(&map_resp, g_valid_bmp_file, g_valid_image_res, false, 0.65, 0.1, origin);
00070     EXPECT_FLOAT_EQ(map_resp.map.info.resolution, g_valid_image_res);
00071     EXPECT_EQ(map_resp.map.info.width, g_valid_image_width);
00072     EXPECT_EQ(map_resp.map.info.height, g_valid_image_height);
00073     for(unsigned int i=0; i < map_resp.map.info.width * map_resp.map.info.height; i++)
00074       EXPECT_EQ(g_valid_image_content[i], map_resp.map.data[i]);
00075   }
00076   catch(...)
00077   {
00078     ADD_FAILURE() << "Uncaught exception";
00079   }
00080 }
00081 
00082 /* Try to load an invalid file.  Succeeds if a std::runtime_error exception
00083  * is thrown. */
00084 TEST(MapServer, loadInvalidFile)
00085 {
00086   try
00087   {
00088     nav_msgs::GetMap::Response map_resp;
00089     double origin[3] = { 0.0, 0.0, 0.0 };
00090     map_server::loadMapFromFile(&map_resp, "foo", 0.1, false, 0.65, 0.1, origin);
00091   }
00092   catch(std::runtime_error &e)
00093   {
00094     SUCCEED();
00095     return;
00096   }
00097   catch(...)
00098   {
00099     FAIL() << "Uncaught exception";
00100   }
00101   ADD_FAILURE() << "Didn't throw exception as expected";
00102 }
00103 
00104 int main(int argc, char **argv)
00105 {
00106   testing::InitGoogleTest(&argc, argv);
00107   return RUN_ALL_TESTS();
00108 }