fxing temp dir on windows

corelib/test/TestUtils.h

@@ -0,0 +1,48 @@
+#ifndef RTABMAP_CORELIB_TEST_TESTUTILS_H_
+#define RTABMAP_CORELIB_TEST_TESTUTILS_H_
+
+#include <cstdlib>
+#include <string>
+
+#ifdef _WIN32
+#include <process.h>
+#else
+#include <unistd.h>
+#endif
+
+namespace rtabmap {
+namespace test {
+
+// Portable PID. MSVC has _getpid() in <process.h>; POSIX has getpid() in
+// <unistd.h>. Tests typically use this to disambiguate temp file names
+// across parallel runs.
+inline int getPid()
+{
+#ifdef _WIN32
+	return _getpid();
+#else
+	return ::getpid();
+#endif
+}
+
+// Portable replacement for hardcoded "/tmp/<name>". /tmp doesn't exist on
+// Windows so any test that wrote there failed to open the file. This honors
+// TEMP/TMP on Windows and TMPDIR on POSIX, with an OS-appropriate fallback.
+// Forward slash is accepted by Win32 APIs so we don't bother converting.
+inline std::string tempPath(const std::string & name)
+{
+#ifdef _WIN32
+	const char * dir = std::getenv("TEMP");
+	if(!dir) dir = std::getenv("TMP");
+	if(!dir) dir = "C:/Temp";
+#else
+	const char * dir = std::getenv("TMPDIR");
+	if(!dir) dir = "/tmp";
+#endif
+	return std::string(dir) + "/" + name;
+}
+
+} // namespace test
+} // namespace rtabmap
+
+#endif // RTABMAP_CORELIB_TEST_TESTUTILS_H_

corelib/test/test_dbdriver.cpp

@@ -14,6 +14,7 @@
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
+#include "TestUtils.h"
 #include <opencv2/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
 #include <chrono>
@@ -35,7 +36,7 @@ namespace {
 std::string uniqueDbPath()
 {
 	static int counter = 0;
-	return uFormat("/tmp/rtabmap_dbdriver_test_%d_%d.db", getpid(), ++counter);
+	return test::tempPath(uFormat("rtabmap_dbdriver_test_%d_%d.db", test::getPid(), ++counter));
 }
 
 class DbDriverFixture : public ::testing::Test

corelib/test/test_dbdriversqlite3.cpp

@@ -5,6 +5,7 @@
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
+#include "TestUtils.h"
 
 using namespace rtabmap;
 
@@ -13,7 +14,7 @@ namespace {
 std::string uniqueDbPath()
 {
 	static int counter = 0;
-	return uFormat("/tmp/rtabmap_dbdriversqlite3_test_%d_%d.db", getpid(), ++counter);
+	return test::tempPath(uFormat("rtabmap_dbdriversqlite3_test_%d_%d.db", test::getPid(), ++counter));
 }
 
 class DBDriverSqlite3Fixture : public ::testing::Test

corelib/test/test_imuthread.cpp

@@ -8,14 +8,9 @@
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UMutex.h>
 #include <rtabmap/utilite/UTimer.h>
+#include "TestUtils.h"
 #include <fstream>
 #include <cmath>
-#ifdef _WIN32
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 #include <vector>
 
 using namespace rtabmap;
@@ -26,7 +21,7 @@ static int g_fileCounter = 0;
 
 static std::string tempImuCsvPath()
 {
-	return uFormat("/tmp/rtabmap_imuthread_test_%d_%d.csv", getpid(), ++g_fileCounter);
+	return test::tempPath(uFormat("rtabmap_imuthread_test_%d_%d.csv", test::getPid(), ++g_fileCounter));
 }
 
 static bool writeImuCsv(const std::string & path, const std::vector<std::string> & rows)
@@ -174,7 +169,7 @@ static std::vector<IMUEventCollector::Sample> runThread(
 TEST(IMUThreadTest, InitFailsOnMissingFile)
 {
 	IMUThread thread(0, Transform::getIdentity());
-	EXPECT_FALSE(thread.init("/tmp/rtabmap_imuthread_missing_file.csv"));
+	EXPECT_FALSE(thread.init(test::tempPath("rtabmap_imuthread_missing_file.csv")));
 }
 
 TEST(IMUThreadTest, InitFailsOnHeaderOnly)

corelib/test/test_laswriter.cpp

@@ -2,13 +2,8 @@
 #include <rtabmap/core/Version.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
+#include "TestUtils.h"
 #include <fstream>
-#ifdef _WIN32
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 
 #ifdef RTABMAP_LIBLAS
 #include <rtabmap/core/LASWriter.h>
@@ -23,7 +18,7 @@ static int g_fileCounter = 0;
 
 static std::string tempLasPath(const std::string & extension)
 {
-	return uFormat("/tmp/rtabmap_laswriter_test_%d_%d.%s", getpid(), ++g_fileCounter, extension.c_str());
+	return test::tempPath(uFormat("rtabmap_laswriter_test_%d_%d.%s", test::getPid(), ++g_fileCounter, extension.c_str()));
 }
 
 #ifdef RTABMAP_LIBLAS

corelib/test/test_memory.cpp

@@ -13,6 +13,7 @@
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/ULogger.h>
+#include "TestUtils.h"
 #include <cstdio>
 #include <string>
 #include <vector>
@@ -38,7 +39,7 @@ ParametersMap defaultMemoryParams(int stmSize = 5)
 std::string uniqueDbPath()
 {
 	static int counter = 0;
-	return uFormat("/tmp/rtabmap_memory_test_%d_%d.db", getpid(), ++counter);
+	return test::tempPath(uFormat("rtabmap_memory_test_%d_%d.db", test::getPid(), ++counter));
 }
 
 class MemoryFixture : public ::testing::Test

corelib/test/test_pydescriptor.cpp

@@ -22,15 +22,10 @@
 
 #include <opencv2/core.hpp>
 
+#include "TestUtils.h"
 #include <fstream>
 #include <memory>
 #include <string>
-#ifdef _WIN32
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 
 using namespace rtabmap;
 
@@ -48,8 +43,7 @@ namespace {
 // reloads fresh content on each TEST().
 std::string writeStubScript(int tag)
 {
-	const std::string path = uFormat(
+	const std::string path = test::tempPath(uFormat("rtabmap_test_pydescriptor_%d_%d.py", test::getPid(), tag));
-			"/tmp/rtabmap_test_pydescriptor_%d_%d.py", getpid(), tag);
 	std::ofstream out(path);
 	out <<
 		"import numpy as np\n"
@@ -173,8 +167,7 @@ TEST(PyDescriptor, EmptyPathReturnsEmpty)
 // an empty descriptor.
 TEST(PyDescriptor, MissingPathReturnsEmpty)
 {
-	const std::string scriptPath = uFormat(
+	const std::string scriptPath = test::tempPath(uFormat("rtabmap_test_pydescriptor_does_not_exist_%d.py", test::getPid()));
-			"/tmp/rtabmap_test_pydescriptor_does_not_exist_%d.py", getpid());
 	std::unique_ptr<GlobalDescriptorExtractor> extractor(
 			GlobalDescriptorExtractor::create(
 					GlobalDescriptorExtractor::kPyDescriptor,

corelib/test/test_pydetector.cpp

@@ -20,15 +20,10 @@
 
 #include <opencv2/core.hpp>
 
+#include "TestUtils.h"
 #include <fstream>
 #include <memory>
 #include <string>
-#ifdef _WIN32
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 
 using namespace rtabmap;
 
@@ -46,8 +41,7 @@ namespace {
 // reloads fresh content on each TEST().
 std::string writeStubScript(int tag)
 {
-	const std::string path = uFormat(
+	const std::string path = test::tempPath(uFormat("rtabmap_test_pydetector_%d_%d.py", test::getPid(), tag));
-			"/tmp/rtabmap_test_pydetector_%d_%d.py", getpid(), tag);
 	std::ofstream out(path);
 	out <<
 		"import numpy as np\n"
@@ -135,8 +129,7 @@ TEST(PyDetector, BasicDetection)
 // contract so callers can safely construct without pre-checking the path.
 TEST(PyDetector, MissingPathReturnsEmpty)
 {
-	const std::string scriptPath = uFormat(
+	const std::string scriptPath = test::tempPath(uFormat("rtabmap_test_pydetector_does_not_exist_%d.py", test::getPid()));
-			"/tmp/rtabmap_test_pydetector_does_not_exist_%d.py", getpid());
 	std::unique_ptr<Feature2D> detector(Feature2D::create(
 			Feature2D::kFeaturePyDetector, baseParams(scriptPath)));
 	ASSERT_NE(detector.get(), nullptr);

corelib/test/test_pymatcher.cpp

@@ -17,18 +17,13 @@
 
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UFile.h>
+#include "TestUtils.h"
 
 #include <opencv2/core.hpp>
 
 #include <fstream>
 #include <memory>
 #include <string>
-#ifdef _WIN32
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 
 using namespace rtabmap;
 
@@ -49,8 +44,7 @@ namespace {
 // reloads fresh content on each TEST().
 std::string writeStubScript(int tag)
 {
-	const std::string path = uFormat(
+	const std::string path = test::tempPath(uFormat("rtabmap_test_pymatcher_%d_%d.py", test::getPid(), tag));
-			"/tmp/rtabmap_test_pymatcher_%d_%d.py", getpid(), tag);
 	std::ofstream out(path);
 	out <<
 		"import numpy as np\n"
@@ -168,8 +162,7 @@ TEST(PyMatcher, AsymmetricCounts)
 // then short-circuits because pModule_ is null.
 TEST(PyMatcher, MissingPathReturnsEmpty)
 {
-	const std::string scriptPath = uFormat(
+	const std::string scriptPath = test::tempPath(uFormat("rtabmap_test_pymatcher_does_not_exist_%d.py", test::getPid()));
-			"/tmp/rtabmap_test_pymatcher_does_not_exist_%d.py", getpid());
 	PyMatcher matcher(scriptPath, 0.2f, 20, false, "indoor");
 
 	cv::Mat descFrom = makeDescriptors(2, 8);

corelib/test/test_rtabmap.cpp

@@ -22,12 +22,7 @@
 #include <set>
 #include <sstream>
 #include <string>
-#ifdef _WIN32
+#include "TestUtils.h"
-#include <process.h>
-#define getpid _getpid
-#else
-#include <unistd.h>
-#endif
 #include <vector>
 
 using namespace rtabmap;
@@ -55,7 +50,7 @@ ParametersMap defaultRtabmapParams(bool rgbdMode = true)
 std::string uniqueDbPath()
 {
 	static int counter = 0;
-	return uFormat("/tmp/rtabmap_test_%d_%d.db", getpid(), ++counter);
+	return test::tempPath(uFormat("rtabmap_test_%d_%d.db", test::getPid(), ++counter));
 }
 
 class RtabmapFixture : public ::testing::Test
@@ -2642,7 +2637,7 @@ TEST_F(RtabmapFixture, GenerateDOTGraphWritesDotFile)
 {
 	for(int i = 0; i < 4; ++i) process();
 
-	const std::string dotPath = uFormat("/tmp/rtabmap_test_dot_%d.dot", getpid());
+	const std::string dotPath = test::tempPath(uFormat("rtabmap_test_dot_%d.dot", test::getPid()));
 	UFile::erase(dotPath.c_str());
 	rtabmap_->generateDOTGraph(dotPath, /*id=*/0, /*margin=*/5);
 
@@ -2667,7 +2662,7 @@ TEST_F(RtabmapFixture, ExportPosesRawFormatRoundTripsViaImport)
 	// poses back. This covers the local/optimized export path.
 	for(int i = 0; i < 4; ++i) process();
 
-	const std::string outPath = uFormat("/tmp/rtabmap_test_poses_raw_%d.txt", getpid());
+	const std::string outPath = test::tempPath(uFormat("rtabmap_test_poses_raw_%d.txt", test::getPid()));
 	UFile::erase(outPath.c_str());
 	rtabmap_->exportPoses(outPath, /*optimized=*/true, /*global=*/false, /*format=*/0);
 	ASSERT_TRUE(UFile::exists(outPath));
@@ -2690,7 +2685,7 @@ TEST_F(RtabmapFixture, ExportPosesRawFormatRoundTripsViaImport)
 TEST_F(RtabmapFixture, ExportPosesKittiFormatWritesOneMatrixPerLine)
 {
 	for(int i = 0; i < 3; ++i) process();
-	const std::string outPath = uFormat("/tmp/rtabmap_test_poses_kitti_%d.txt", getpid());
+	const std::string outPath = test::tempPath(uFormat("rtabmap_test_poses_kitti_%d.txt", test::getPid()));
 	UFile::erase(outPath.c_str());
 	rtabmap_->exportPoses(outPath, /*optimized=*/true, /*global=*/false, /*format=*/2);
 	ASSERT_TRUE(UFile::exists(outPath));
@@ -3041,7 +3036,7 @@ TEST(RtabmapTest, GlobalBundleAdjustmentRefinesPosesOnSynthScene)
 TEST_F(RtabmapFixture, ExportPosesTumFormatIncludesStampPerLine)
 {
 	for(int i = 0; i < 3; ++i) process();
-	const std::string outPath = uFormat("/tmp/rtabmap_test_poses_tum_%d.txt", getpid());
+	const std::string outPath = test::tempPath(uFormat("rtabmap_test_poses_tum_%d.txt", test::getPid()));
 	UFile::erase(outPath.c_str());
 	// Format 1 = RGBD-SLAM / TUM: stamp x y z qw qx qy qz (8 fields).
 	rtabmap_->exportPoses(outPath, /*optimized=*/true, /*global=*/false, /*format=*/1);

corelib/test/test_rtabmap_integration.cpp

@@ -33,6 +33,7 @@
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UConversion.h>
 
+#include "TestUtils.h"
 #include <iostream>
 #include <memory>
 #include <string>
@@ -47,14 +48,14 @@ std::string testDataPath(const std::string & basename)
 }
 
 // Output DB path named after the running test so manual inspection is easy
-// (rtabmap-databaseViewer /tmp/rtabmap_integration_<TestName>.db). The file
+// (rtabmap-databaseViewer <tempdir>/rtabmap_integration_<TestName>.db). The
-// is overwritten on each run and NOT deleted at teardown.
+// file is overwritten on each run and NOT deleted at teardown.
 std::string workDbForCurrentTest()
 {
 	const ::testing::TestInfo * info =
 			::testing::UnitTest::GetInstance()->current_test_info();
 	const std::string testName = info != nullptr ? info->name() : "unknown";
-	return uFormat("/tmp/rtabmap_integration_%s.db", testName.c_str());
+	return test::tempPath(uFormat("rtabmap_integration_%s.db", testName.c_str()));
 }
 
 // Result bundle populated by replayDatabase(). Extend as the assertions in the