cartographer/cartographer_grpc/handlers/add_landmark_data_handler_t...

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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.
*/
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/testing/add_data_handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h"
#include "google/protobuf/text_format.h"
#include "gtest/gtest.h"
namespace cartographer_grpc {
namespace handlers {
namespace {
using ::testing::_;
using ::testing::Eq;
using ::testing::Pointee;
using ::testing::Truly;
const std::string kMessage = R"PROTO(
sensor_metadata {
trajectory_id: 1
sensor_id: "sensor_id"
}
landmark_data {
timestamp: 2
landmark_observations {
id: "3"
landmark_to_tracking_transform {
translation {
x: 4
y: 5
z: 6
}
rotation {
x: 7
y: 8
z: 9
w: 10
}
}
translation_weight: 11.0
rotation_weight: 12.0
}
})PROTO";
using AddLandmarkDataHandlerTest =
testing::AddDataHandlerTest<AddLandmarkDataHandler>;
TEST_F(AddLandmarkDataHandlerTest, NoLocalSlamUploader) {
proto::AddLandmarkDataRequest request;
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetNoLocalTrajectoryUploader();
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
test_server_->SendWrite(request);
test_server_->SendWritesDone();
test_server_->SendFinish();
}
TEST_F(AddLandmarkDataHandlerTest, WithMockLocalSlamUploader) {
proto::AddLandmarkDataRequest request;
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetMockLocalTrajectoryUploader();
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
EXPECT_CALL(*mock_local_trajectory_uploader_,
DoEnqueueDataRequest(Pointee(
Truly(testing::BuildProtoPredicateEquals(&request)))));
test_server_->SendWrite(request);
test_server_->SendWritesDone();
test_server_->SendFinish();
}
} // namespace
} // namespace handlers
} // namespace cartographer_grpc