#include <gtest/gtest.h>
#include "costmap_compressor/CostmapCompressor.hpp"
#include <rclcpp/time.hpp>

#include <iostream>

TEST(costmap_compressor_test, compress)
{
    nav2_msgs::msg::Costmap original;
    original.header.frame_id = "odom";
    original.header.stamp = rclcpp::Time(1751818062, 0);
    original.metadata.resolution = 1.0;
    original.metadata.size_x = 20.0;
    original.metadata.size_y = 20.0;
    original.data.resize(original.metadata.size_x*original.metadata.size_y, 0);

    const costmap_compressor::msg::CompressedCostmap compressed = costmap_compressor::compress(original);
    const nav2_msgs::msg::Costmap uncompressed = costmap_compressor::uncompress(compressed);

    EXPECT_TRUE(true);

}

int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}