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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // Package dataprocess manages code related to the data-saving process | ||
| package dataprocess | ||
|
|
||
| import ( | ||
| "bufio" | ||
| "bytes" | ||
| "os" | ||
|
|
||
| pc "go.viam.com/rdk/pointcloud" | ||
| ) | ||
|
|
||
| // WritePCDToFile encodes the pointcloud and then saves it to the passed filename. | ||
| func WritePCDToFile(pointcloud pc.PointCloud, filename string) error { | ||
| buf := new(bytes.Buffer) | ||
| err := pc.ToPCD(pointcloud, buf, 1) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| return WriteBytesToFile(buf.Bytes(), filename) | ||
| } | ||
|
|
||
| // WriteBytesToFile writes the passed bytes to the passed filename. | ||
| func WriteBytesToFile(bytes []byte, filename string) error { | ||
| //nolint:gosec | ||
| f, err := os.Create(filename) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| w := bufio.NewWriter(f) | ||
| if _, err := w.Write(bytes); err != nil { | ||
| return err | ||
| } | ||
| if err := w.Flush(); err != nil { | ||
| return err | ||
| } | ||
| return f.Close() | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| package dataprocess | ||
|
|
||
| import ( | ||
| "os" | ||
| "testing" | ||
|
|
||
| pc "go.viam.com/rdk/pointcloud" | ||
| "go.viam.com/test" | ||
| ) | ||
|
|
||
| func TestWriteBytesToFile(t *testing.T) { | ||
| t.Run("Write bytes to file", func(t *testing.T) { | ||
| tempDir, err := os.MkdirTemp("", "*") | ||
| defer os.RemoveAll(tempDir) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| // Save a set of bytes to a file | ||
| actualBytes := []byte{1, 5, 8} | ||
| fileDest := tempDir + "test_bytes" | ||
| err = WriteBytesToFile(actualBytes, fileDest) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| // Test that the file was actually written | ||
| readBytes, err := os.ReadFile(fileDest) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| test.That(t, readBytes, test.ShouldResemble, actualBytes) | ||
| }) | ||
| } | ||
|
|
||
| func TestWritePCDToFile(t *testing.T) { | ||
| t.Run("Write PCD to file", func(t *testing.T) { | ||
| tempDir, err := os.MkdirTemp("", "*") | ||
| defer os.RemoveAll(tempDir) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| fileDest := tempDir + "test_pcd.pcd" | ||
| pointcloud := pc.New() | ||
| err = WritePCDToFile(pointcloud, fileDest) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| // Test that the file was actually written | ||
| _, err = os.Stat(fileDest) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| }) | ||
| } |
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