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rosbag: add new unit tests

This commit is contained in:
Tim Field 2010-05-07 09:24:25 +00:00
parent 0164a9c1b9
commit dc27b6282d
1 changed files with 55 additions and 22 deletions
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77
tools/rosbag/test/test_bag.cpp
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@ -65,8 +65,6 @@ protected:
}
void dumpContents(rosbag::Bag& b) {
b.dump();
rosbag::View view(b);
foreach(rosbag::MessageInstance m, view)
std::cout << m.getTime() << ": [" << m.getTopic() << "]" << std::endl;
@ -116,13 +114,11 @@ TEST_F(BagTest, append_works) {
b1.open(filename, rosbag::bagmode::Write);
b1.write("chatter", ros::Time::now(), foo_);
b1.close();
dumpContents(b1);
rosbag::Bag b2;
b2.open(filename, rosbag::bagmode::Append);
b2.write("numbers", ros::Time::now(), i_);
b2.close();
dumpContents(b2);
checkContents(filename);
}
@ -150,12 +146,20 @@ TEST_F(BagTest, different_writes) {
b1.close();
}
TEST_F(BagTest, bag_not_open_fails) {
rosbag::Bag b;
try
{
b.write("/test", ros::Time::now(), foo_);
FAIL();
}
catch (rosbag::BagIOException ex) {
SUCCEED();
}
}
TEST(rosbag, simple_write_and_read_works) {
rosbag::Bag b1;
b1.open("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Write);
rosbag::Bag b1("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Write);
std_msgs::String str;
str.data = std::string("foo");
@ -168,8 +172,7 @@ TEST(rosbag, simple_write_and_read_works) {
b1.close();
rosbag::Bag b2;
b2.open("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Read);
rosbag::Bag b2("/tmp/simple_write_and_read_works.bag", rosbag::bagmode::Read);
std::vector<std::string> topics;
topics.push_back(std::string("chatter"));
@ -189,6 +192,43 @@ TEST(rosbag, simple_write_and_read_works) {
b2.close();
}
TEST(rosbag, write_then_read_without_read_mode_fails) {
rosbag::Bag b("/tmp/write_then_read_without_read_mode_fails.bag", rosbag::bagmode::Write);
std_msgs::String str;
str.data = std::string("foo");
b.write("chatter", ros::Time::now(), str);
try
{
rosbag::View view(b);
foreach(rosbag::MessageInstance const m, view) {
std_msgs::String::ConstPtr s = m.instantiate<std_msgs::String>();
if (s != NULL)
ASSERT_EQ(s->data, std::string("foo"));
}
FAIL();
}
catch (rosbag::BagException ex) {
SUCCEED();
}
}
TEST_F(BagTest, read_then_write_without_write_mode_fails) {
rosbag::Bag b1("/tmp/read_then_write_without_write_mode_fails.bag", rosbag::bagmode::Write);
b1.write("chatter", ros::Time::now(), foo_);
b1.close();
rosbag::Bag b2("/tmp/read_then_write_without_write_mode_fails.bag", rosbag::bagmode::Read);
try
{
b2.write("chatter", ros::Time::now(), foo_);
FAIL();
}
catch (rosbag::BagException ex) {
SUCCEED();
}
}
TEST(rosbag, time_query_works) {
rosbag::Bag outbag;
outbag.open("/tmp/time_query_works.bag", rosbag::bagmode::Write);
@ -262,11 +302,8 @@ TEST(rosbag, topic_query_works) {
}
TEST(rosbag, multiple_bag_works) {
rosbag::Bag outbag1;
outbag1.open("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Write);
rosbag::Bag outbag2;
outbag2.open("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Write);
rosbag::Bag outbag1("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Write);
rosbag::Bag outbag2("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Write);
std_msgs::Int32 imsg;
for (int i = 0; i < 1000; i++) {
@ -283,11 +320,8 @@ TEST(rosbag, multiple_bag_works) {
outbag1.close();
outbag2.close();
rosbag::Bag bag1;
bag1.open("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Read);
rosbag::Bag bag2;
bag2.open("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Read);
rosbag::Bag bag1("/tmp/multiple_bag_works1.bag", rosbag::bagmode::Read);
rosbag::Bag bag2("/tmp/multiple_bag_works2.bag", rosbag::bagmode::Read);
rosbag::View view;
view.addQuery(bag1);
@ -372,8 +406,7 @@ TEST(rosbag, modify_view_works) {
}
TEST(rosbag, modify_bag_works) {
rosbag::Bag rwbag;
rwbag.open("/tmp/modify_bag_works.bag", rosbag::bagmode::Write);// | rosbag::bagmode::Read);
rosbag::Bag rwbag("/tmp/modify_bag_works.bag", rosbag::bagmode::Write | rosbag::bagmode::Read);
std::vector<std::string> t0 = boost::assign::list_of("t0");