90 lines
2.8 KiB
C++
90 lines
2.8 KiB
C++
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
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#include "cartographer_grpc/testing/handler_test.h"
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#include "cartographer_grpc/testing/test_helpers.h"
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#include "google/protobuf/text_format.h"
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#include "gtest/gtest.h"
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namespace cartographer_grpc {
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namespace handlers {
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namespace {
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using ::testing::_;
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using ::testing::Eq;
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using ::testing::Pointee;
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using ::testing::Truly;
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const std::string kMessage = R"PROTO(
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sensor_metadata {
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trajectory_id: 1
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sensor_id: "sensor_id"
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}
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landmark_data {
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timestamp: 2
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landmark_observations {
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id: "3"
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landmark_to_tracking_transform {
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translation {
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x: 4 y: 5 z: 6
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}
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rotation {
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w:7 x: 8 y: 9 z: 10
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}
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}
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translation_weight: 11.0
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rotation_weight: 12.0
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}
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})PROTO";
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using AddLandmarkDataHandlerTest = testing::HandlerTest<AddLandmarkDataHandler>;
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TEST_F(AddLandmarkDataHandlerTest, NoLocalSlamUploader) {
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proto::AddLandmarkDataRequest request;
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EXPECT_TRUE(
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google::protobuf::TextFormat::ParseFromString(kMessage, &request));
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SetNoLocalTrajectoryUploader();
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EXPECT_CALL(*mock_map_builder_context_,
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DoEnqueueSensorData(
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Eq(request.sensor_metadata().trajectory_id()),
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Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
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test_server_->SendWrite(request);
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test_server_->SendWritesDone();
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test_server_->SendFinish();
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}
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TEST_F(AddLandmarkDataHandlerTest, WithMockLocalSlamUploader) {
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proto::AddLandmarkDataRequest request;
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EXPECT_TRUE(
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google::protobuf::TextFormat::ParseFromString(kMessage, &request));
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SetMockLocalTrajectoryUploader();
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EXPECT_CALL(*mock_map_builder_context_,
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DoEnqueueSensorData(
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Eq(request.sensor_metadata().trajectory_id()),
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Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
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EXPECT_CALL(*mock_local_trajectory_uploader_,
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DoEnqueueDataRequest(Pointee(
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Truly(testing::BuildProtoPredicateEquals(&request)))));
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test_server_->SendWrite(request);
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test_server_->SendWritesDone();
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test_server_->SendFinish();
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}
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} // namespace
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} // namespace handlers
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} // namespace cartographer_grpc
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