v01

thirdparty/ros/ros_comm/utilities/roslz4/test/roslz4_test.cpp

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+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2014, Ben Charrow
+*  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 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.
+********************************************************************/
+
+#include <gtest/gtest.h>
+
+#include <roslz4/lz4s.h>
+
+class CompressATest :public testing::Test {
+protected:
+  void SetUp() {
+    for (size_t i = 0; i < sizeof(input); ++i) {
+      input[i] = 'a';
+    }
+    for (size_t i = 0; i < sizeof(output); ++i) {
+      output[i] = 0;
+    }
+    for (size_t i = 0; i < sizeof(other); ++i) {
+      other[i] = 0;
+    }
+  }
+
+  char input[1024];
+  char output[1048];
+  char other[1024];
+};
+
+TEST_F(CompressATest, Stream) {
+  // Compression
+  roslz4_stream stream;
+  int ret;
+  ret = roslz4_compressStart(&stream, 4);
+  ASSERT_EQ(ROSLZ4_OK, ret);
+
+  stream.input_left = sizeof(input);
+  stream.input_next = input;
+  stream.output_left = sizeof(output);
+  stream.output_next = output;
+
+  int counter;
+  for (counter = 0; ret == ROSLZ4_OK; ++counter) {
+    ret = roslz4_compress(&stream, ROSLZ4_FINISH);
+  }
+  ASSERT_EQ(ROSLZ4_STREAM_END, ret);
+
+  int output_size = stream.output_next - output;
+  roslz4_compressEnd(&stream);
+
+  // Decompression
+  stream.input_left = output_size;
+  stream.input_next = output;
+  stream.output_left = sizeof(other);
+  stream.output_next = other;
+
+  ret = roslz4_decompressStart(&stream);
+  ASSERT_EQ(ROSLZ4_OK, ret);
+
+  ret = roslz4_decompress(&stream);
+  ASSERT_EQ(ROSLZ4_STREAM_END, ret);
+
+  roslz4_decompressEnd(&stream);
+
+  for (size_t i = 0; i < sizeof(other); ++i) {
+    ASSERT_EQ(input[i], other[i]) <<  "Original and uncompressed data differ at index " << i;
+  }
+}
+
+TEST_F(CompressATest, Oneshot) {
+  // Compression
+  unsigned int comp_size = sizeof(output);
+  int ret = roslz4_buffToBuffCompress(input, sizeof(input), output, &comp_size,
+                                      4);
+  ASSERT_EQ(ROSLZ4_OK, ret);
+
+  // Decompression
+  unsigned int decomp_size = sizeof(other);
+  ret = roslz4_buffToBuffDecompress(output, comp_size, other, &decomp_size);
+  ASSERT_EQ(ROSLZ4_OK, ret);
+  ASSERT_EQ(sizeof(input), decomp_size);
+
+  for (size_t i = 0; i < sizeof(other); ++i) {
+    ASSERT_EQ(input[i], other[i]) << "Original and uncompressed data differ at index " << i;
+  }
+}
+
+TEST_F(CompressATest, OneshotDataCorruption) {
+  unsigned int comp_size = sizeof(output);
+  int ret = roslz4_buffToBuffCompress(input, sizeof(input), output, &comp_size,
+                                      4);
+  ASSERT_EQ(ROSLZ4_OK, ret);
+
+  output[20] += 1;
+
+  unsigned int decomp_size = sizeof(other);
+  ret = roslz4_buffToBuffDecompress(output, comp_size, other, &decomp_size);
+  ASSERT_EQ(ROSLZ4_DATA_ERROR, ret);
+}
+
+
+int main(int argc, char **argv) {
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}