67 lines
2.3 KiB
C
67 lines
2.3 KiB
C
|
/*
|
||
|
|
* 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_ADD_DATA_HANDLER_TEST_H
|
||
|
|
#define CARTOGRAPHER_GRPC_TESTING_ADD_DATA_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_context.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace cartographer_grpc {
|
||
|
|
namespace testing {
|
||
|
|
|
||
|
|
using ::testing::Return;
|
||
|
|
using ::testing::Test;
|
||
|
|
|
||
|
|
template <typename HandlerType>
|
||
|
|
class AddDataHandlerTest : 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>();
|
||
|
|
}
|
||
|
|
|
||
|
|
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_;
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace testing
|
||
|
|
} // namespace cartographer_grpc
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_GRPC_TESTING_ADD_DATA_HANDLER_TEST_H
|