deserializer_test.cpp File Reference

#include "config.h"
#include <gtest/gtest.h>
#include "ros_type_introspection/ros_introspection.hpp"
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/NavSatStatus.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/Image.h>
#include <std_msgs/Int16MultiArray.h>

Include dependency graph for deserializer_test.cpp:

Go to the source code of this file.

Functions
std::vector< uint8_t >	buffer (ros::serialization::serializationLength(imu))
std::vector< uint8_t >	buffer (ros::serialization::serializationLength(multi_array))
std::vector< uint8_t >	buffer (ros::serialization::serializationLength(image))
parser	deserializeIntoFlatContainer ("imu", absl::Span< uint8_t >(buffer),&flat_container, 100)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/header/seq"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 2016)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/header/stamp"))
	EXPECT_EQ (flat_container.value[index].second.convert< double >(), double(1234.567))
	EXPECT_EQ (flat_container.value[index].second.convert< ros::Time >(), imu.header.stamp)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/orientation/x"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 11)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/orientation/y"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 12)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/orientation/z"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 13)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/orientation/w"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 14)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/angular_velocity/x"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 21)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/angular_velocity/y"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 22)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/angular_velocity/z"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 23)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/linear_acceleration/x"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 31)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/linear_acceleration/y"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 32)
	EXPECT_EQ (flat_container.value[index].first.toStdString(),("imu/linear_acceleration/z"))
	EXPECT_EQ (flat_container.value[index].second.convert< int >(), 33)
	EXPECT_NO_THROW (parser.deserializeIntoFlatContainer("multi_array", absl::Span< uint8_t >(buffer),&flat_container, 100))
	EXPECT_NO_THROW (parser.deserializeIntoFlatContainer("image_raw", absl::Span< uint8_t >(buffer),&flat_container, 100))
	for (int i=0;i< 9;i++)
	if (VERBOSE_TEST)
int	main (int argc, char **argv)
parser	registerMessageDefinition ("imu", ROSType(DataType< sensor_msgs::Imu >::value()), Definition< sensor_msgs::Imu >::value())
parser	registerMessageDefinition ("multi_array", ROSType(DataType< std_msgs::Int16MultiArray >::value()), Definition< std_msgs::Int16MultiArray >::value())
parser	registerMessageDefinition ("image_raw", ROSType(DataType< sensor_msgs::Image >::value()), Definition< sensor_msgs::Image >::value())
multi_array data	resize (N)
image data	resize (image.height *image.step)
ros::serialization::OStream	stream (buffer.data(), buffer.size())
	TEST (Deserialize, JointState)
	TEST (Deserialize, NavSatStatus)

Variables
multi_array layout	data_offset = 42
FlatMessage	flat_container
imu header	frame_id = "pippo"
image	height = 480
sensor_msgs::Image	image
sensor_msgs::Imu	imu
int	index = 0
std_msgs::Int16MultiArray	multi_array
const unsigned	N = 6
imu header stamp	nsec = 567*1000*1000
imu header stamp	sec = 1234
imu header	seq = 2016
image	step = 3*image.width
imu orientation	w = 14
image	width = 640
imu orientation	x = 11
imu orientation	y = 12
imu orientation	z = 13

Function Documentation

std::vector<uint8_t> buffer

(

ros::serialization::serializationLength(imu)

)

std::vector<uint8_t> buffer

(

ros::serialization::serializationLength(multi_array)

)

std::vector<uint8_t> buffer

(

ros::serialization::serializationLength(image)

)

parser deserializeIntoFlatContainer	(	"imu"	,
		absl::Span< uint8_t >	buffer,
		&	flat_container,
		100
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/header/seq")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		2016
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/header/stamp")
	)

EXPECT_EQ	(	flat_container.value.second.convert< double >	()[index],
		double(1234.567)
	)

EXPECT_EQ	(	flat_container.value.second.convert< ros::Time >	()[index],
		imu.header.	stamp
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/orientation/x")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		11
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/orientation/y")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		12
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/orientation/z")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		13
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/orientation/w")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		14
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/angular_velocity/x")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		21
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/angular_velocity/y")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		22
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/angular_velocity/z")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		23
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/linear_acceleration/x")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		31
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/linear_acceleration/y")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		32
	)

EXPECT_EQ	(	flat_container.value.first.	toStdString()[index],
		("imu/linear_acceleration/z")
	)

EXPECT_EQ	(	flat_container.value.second.convert< int >	()[index],
		33
	)

EXPECT_NO_THROW

(

parser.

deserializeIntoFlatContainer"multi_array", absl::Span< uint8_t >(buffer),&flat_container, 100

)

EXPECT_NO_THROW

(

parser.

deserializeIntoFlatContainer"image_raw", absl::Span< uint8_t >(buffer),&flat_container, 100

)

for

(

)

Definition at line 237 of file deserializer_test.cpp.

if

(

VERBOSE_TEST

)

Definition at line 252 of file deserializer_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 459 of file deserializer_test.cpp.

parser registerMessageDefinition	(	"imu"	,
		ROSType(DataType< sensor_msgs::Imu >::value())	,
		Definition< sensor_msgs::Imu >	::value()
	)

parser registerMessageDefinition	(	"multi_array"	,
		ROSType(DataType< std_msgs::Int16MultiArray >::value())	,
		Definition< std_msgs::Int16MultiArray >	::value()
	)

parser registerMessageDefinition	(	"image_raw"	,
		ROSType(DataType< sensor_msgs::Image >::value())	,
		Definition< sensor_msgs::Image >	::value()
	)

multi_array data resize

(

N

)

image data resize

(

image.height *image.

step

)

ros::serialization::OStream stream	(	buffer.	data(),
		buffer.	size()
	)

TEST	(	Deserialize	,
		JointState
	)

Definition at line 15 of file deserializer_test.cpp.

TEST	(	Deserialize	,
		NavSatStatus
	)

Definition at line 170 of file deserializer_test.cpp.

Variable Documentation

multi_array layout data_offset = 42

Definition at line 400 of file deserializer_test.cpp.

FlatMessage flat_container

Definition at line 248 of file deserializer_test.cpp.

imu header frame_id = "pippo"

Definition at line 222 of file deserializer_test.cpp.

image height = 480

Definition at line 439 of file deserializer_test.cpp.

sensor_msgs::Image image

Definition at line 437 of file deserializer_test.cpp.

sensor_msgs::Imu imu

Definition at line 217 of file deserializer_test.cpp.

index = 0

Definition at line 260 of file deserializer_test.cpp.

std_msgs::Int16MultiArray multi_array

Definition at line 397 of file deserializer_test.cpp.

const unsigned N = 6

Definition at line 399 of file deserializer_test.cpp.

imu header stamp nsec = 567*1000*1000

Definition at line 221 of file deserializer_test.cpp.

imu header stamp sec = 1234

Definition at line 220 of file deserializer_test.cpp.

imu header seq = 2016

Definition at line 219 of file deserializer_test.cpp.

image step = 3*image.width

Definition at line 440 of file deserializer_test.cpp.

imu orientation w = 14

Definition at line 227 of file deserializer_test.cpp.

image width = 640

Definition at line 438 of file deserializer_test.cpp.

imu linear_acceleration x = 11

Definition at line 224 of file deserializer_test.cpp.

imu linear_acceleration y = 12

Definition at line 225 of file deserializer_test.cpp.

imu linear_acceleration z = 13

Definition at line 226 of file deserializer_test.cpp.