cartographer/cartographer_grpc/testing/handler_test.h

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/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H
#define CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/testing/rpc_handler_test_server.h"
#include "cartographer_grpc/testing/mock_local_trajectory_uploader.h"
#include "cartographer_grpc/testing/mock_map_builder.h"
#include "cartographer_grpc/testing/mock_map_builder_context.h"
#include "cartographer_grpc/testing/mock_pose_graph.h"
#include "gtest/gtest.h"
namespace cartographer_grpc {
namespace testing {
using ::testing::Return;
using ::testing::Test;
template <typename HandlerType>
class HandlerTest : public Test {
public:
void SetUp() override {
test_server_ = cartographer::common::make_unique<
framework::testing::RpcHandlerTestServer<HandlerType>>(
cartographer::common::make_unique<MockMapBuilderContext>());
mock_map_builder_context_ =
test_server_
->template GetUnsynchronizedContext<MockMapBuilderContext>();
mock_local_trajectory_uploader_ =
cartographer::common::make_unique<MockLocalTrajectoryUploader>();
mock_map_builder_ = cartographer::common::make_unique<MockMapBuilder>();
mock_pose_graph_ = cartographer::common::make_unique<MockPoseGraph>();
EXPECT_CALL(*mock_map_builder_context_, map_builder())
.Times(::testing::AnyNumber())
.WillRepeatedly(::testing::ReturnPointee(mock_map_builder_.get()));
EXPECT_CALL(*mock_map_builder_, pose_graph())
.Times(::testing::AnyNumber())
.WillRepeatedly(Return(mock_pose_graph_.get()));
}
void SetNoLocalTrajectoryUploader() {
EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
.WillOnce(Return(nullptr));
}
void SetMockLocalTrajectoryUploader() {
EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
.WillRepeatedly(Return(mock_local_trajectory_uploader_.get()));
}
protected:
std::unique_ptr<framework::testing::RpcHandlerTestServer<HandlerType>>
test_server_;
MockMapBuilderContext* mock_map_builder_context_;
std::unique_ptr<MockLocalTrajectoryUploader> mock_local_trajectory_uploader_;
std::unique_ptr<MockMapBuilder> mock_map_builder_;
std::unique_ptr<MockPoseGraph> mock_pose_graph_;
};
} // namespace testing
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H