From de11948cc1e47abf368f19d13bcd328626d3ff49 Mon Sep 17 00:00:00 2001
From: nebraszka <maja.nagarnowicz@robotec.ai>
Date: Mon, 11 Mar 2024 16:01:11 +0100
Subject: [PATCH] Rename test & change its location

---
 CMakeLists.txt         |  4 ++--
 test/CMakeLists.txt    | 12 ++++++------
 test/src/TapedTest.cpp | 32 ++++++++++++++++++++++++++++++++
 3 files changed, 40 insertions(+), 8 deletions(-)
 create mode 100644 test/src/TapedTest.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4bd34c66c..447688b65 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,8 +21,8 @@ set(RGL_AUTO_TAPE_PATH "" CACHE STRING  # STRING prevents from expanding relativ
 # Test configuration
 set(RGL_BUILD_TESTS ON CACHE BOOL
     "Enables building test. GTest will be automatically downloaded")
-set(RGL_BUILD_INTEGRATION_TEST OFF CACHE BOOL
-    "Enables building integration test using Tape. Benchmark data will be automatically downloaded from RGL-blobs repository")
+set(RGL_BUILD_TAPED_TEST OFF CACHE BOOL
+    "Enables building taped test. Benchmark data will be automatically downloaded from RGL-blobs repository")
 
 # Tools configuration
 set(RGL_BUILD_TOOLS ON CACHE BOOL "Enables building RGL executable tools")
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 0913dafa2..c5c91a6a0 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -122,21 +122,21 @@ include(FetchContent)
 
 if (RGL_BUILD_INTEGRATION_TEST)
     FetchContent_Declare(
-        rgltest
+        tapedtest
         GIT_REPOSITORY git@github.com:RobotecAI/RGL-blobs.git
         GIT_TAG test/integration-using-tape
     )
 
-    FetchContent_GetProperties(rgltest)
-    if (NOT rgltest_POPULATED)
-        FetchContent_Populate(rgltest)
+    FetchContent_GetProperties(tapedtest)
+    if (NOT tapedtest_POPULATED)
+        FetchContent_Populate(tapedtest)
     endif()
 
     set(RGL_INTEGRATION_TEST_FILES
-        ${rgltest_SOURCE_DIR}/test/IntegrationTest.cpp
+        src/TapedTest.cpp
     )
 
-    file(COPY ${rgltest_SOURCE_DIR}/tapes DESTINATION ${CMAKE_BINARY_DIR}/data)
+    file(COPY ${tapedtest_SOURCE_DIR}/tapes DESTINATION ${CMAKE_BINARY_DIR}/data)
 
     add_executable(RobotecGPULidar_integration_test ${RGL_INTEGRATION_TEST_FILES})
 
diff --git a/test/src/TapedTest.cpp b/test/src/TapedTest.cpp
new file mode 100644
index 000000000..6652f75e2
--- /dev/null
+++ b/test/src/TapedTest.cpp
@@ -0,0 +1,32 @@
+#include <helpers/commonHelpers.hpp>
+#include <rgl/api/extensions/tape.h>
+#include <Logger.hpp>
+
+#include <filesystem>
+#include <fstream>
+
+class TapedTest : public RGLTest
+{};
+
+TEST_F(TapedTest, compare_pcd_files)
+{
+#if RGL_BUILD_PCL_EXTENSION
+	std::string testTapePath{std::filesystem::current_path().parent_path().string() + "/data/tapes/minimal"};
+	std::string expectedOutputPath{std::filesystem::current_path().parent_path().string() +
+	                               "/data/tapes/expected-output/minimal.pcd"};
+	std::string outputPath{std::filesystem::current_path().string() + "/minimal.pcd"};
+
+	ASSERT_RGL_SUCCESS(rgl_tape_play(testTapePath.c_str()));
+
+	std::ifstream expectedOutputFile(expectedOutputPath, std::ios::binary);
+	std::ifstream outputFile(outputPath, std::ios::binary);
+
+	std::vector<char> expectedOutput((std::istreambuf_iterator<char>(expectedOutputFile)), std::istreambuf_iterator<char>());
+	std::vector<char> output((std::istreambuf_iterator<char>(outputFile)), std::istreambuf_iterator<char>());
+
+	EXPECT_EQ(expectedOutput, output);
+#else
+	GTEST_SKIP();
+	RGL_WARN("RGL compiled without PCL extension. Integration test skipped.");
+#endif
+}