cartographer/cartographer_grpc/handlers/add_trajectory_handler_test.cc

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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_trajectory_handler.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "cartographer_grpc/testing/handler_test.h"
#include "cartographer_grpc/testing/mock_map_builder.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::ContainerEq;
using ::testing::Eq;
using ::testing::Return;
using ::testing::ReturnRef;
using ::testing::Test;
using ::testing::Truly;
const std::string kMessage = R"PROTO(
expected_sensor_ids {
id: "range_sensor"
type: RANGE
}
expected_sensor_ids {
id: "imu_sensor"
type: IMU
}
trajectory_builder_options {
trajectory_builder_2d_options {
min_range: 20
max_range: 30
}
pure_localization: true
initial_trajectory_pose {
relative_pose {
translation {
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x: 1 y: 2 z: 3
}
rotation {
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w: 4 x: 5 y: 6 z: 7
}
}
to_trajectory_id: 8
timestamp: 9
}
}
)PROTO";
class AddTrajectoryHandlerTest
: public testing::HandlerTest<AddTrajectoryHandler> {
public:
void SetUp() override {
testing::HandlerTest<AddTrajectoryHandler>::SetUp();
mock_map_builder_ =
cartographer::common::make_unique<testing::MockMapBuilder>();
EXPECT_CALL(*mock_map_builder_context_,
GetLocalSlamResultCallbackForSubscriptions())
.WillOnce(Return(nullptr));
EXPECT_CALL(*mock_map_builder_context_, map_builder())
.WillOnce(ReturnRef(*mock_map_builder_));
}
protected:
std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
ParseSensorIds(const proto::AddTrajectoryRequest &request) {
std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
expected_sensor_ids;
for (const auto &sensor_id : request.expected_sensor_ids()) {
expected_sensor_ids.insert(sensor::FromProto(sensor_id));
}
return expected_sensor_ids;
}
std::unique_ptr<testing::MockMapBuilder> mock_map_builder_;
};
TEST_F(AddTrajectoryHandlerTest, NoLocalSlamUploader) {
SetNoLocalTrajectoryUploader();
proto::AddTrajectoryRequest request;
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
EXPECT_CALL(*mock_map_builder_,
AddTrajectoryBuilder(ContainerEq(ParseSensorIds(request)),
Truly(testing::BuildProtoPredicateEquals(
&request.trajectory_builder_options())),
_))
.WillOnce(Return(13));
test_server_->SendWrite(request);
EXPECT_EQ(test_server_->response().trajectory_id(), 13);
}
TEST_F(AddTrajectoryHandlerTest, WithLocalSlamUploader) {
SetMockLocalTrajectoryUploader();
proto::AddTrajectoryRequest request;
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
EXPECT_CALL(*mock_map_builder_,
AddTrajectoryBuilder(ContainerEq(ParseSensorIds(request)),
Truly(testing::BuildProtoPredicateEquals(
&request.trajectory_builder_options())),
_))
.WillOnce(Return(13));
auto upstream_trajectory_builder_options =
request.trajectory_builder_options();
upstream_trajectory_builder_options.clear_trajectory_builder_2d_options();
upstream_trajectory_builder_options.clear_trajectory_builder_3d_options();
EXPECT_CALL(*mock_local_trajectory_uploader_,
AddTrajectory(Eq(13), ParseSensorIds(request),
Truly(testing::BuildProtoPredicateEquals(
&upstream_trajectory_builder_options))));
test_server_->SendWrite(request);
EXPECT_EQ(test_server_->response().trajectory_id(), 13);
}
} // namespace
} // namespace handlers
} // namespace cartographer_grpc