Implement tests for various data adding handlers (#881)

cartographer_grpc/framework/client.h

@@ -20,6 +20,7 @@
 #include "cartographer_grpc/framework/retry.h"
 #include "cartographer_grpc/framework/rpc_handler_interface.h"
 #include "cartographer_grpc/framework/type_traits.h"
+#include "glog/logging.h"
 #include "grpc++/grpc++.h"
 #include "grpc++/impl/codegen/client_unary_call.h"
 #include "grpc++/impl/codegen/sync_stream.h"

cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc

@@ -0,0 +1,90 @@
+/*
+ * 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_fixed_frame_pose_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"
+  }
+  fixed_frame_pose_data {
+    timestamp: 2
+    pose {
+      translation {
+        x: 3
+        y: 4
+        z: 5
+      }
+      rotation {
+        x: 6
+        y: 7
+        z: 8
+        w: 9
+      }
+    }
+  })PROTO";
+
+using AddFixedFramePoseDataHandlerTest =
+    testing::AddDataHandlerTest<AddFixedFramePoseDataHandler>;
+
+TEST_F(AddFixedFramePoseDataHandlerTest, NoLocalSlamUploader) {
+  proto::AddFixedFramePoseDataRequest 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(AddFixedFramePoseDataHandlerTest, WithMockLocalSlamUploader) {
+  proto::AddFixedFramePoseDataRequest 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

cartographer_grpc/handlers/add_imu_data_handler_test.cc

@@ -15,13 +15,9 @@
  */
 
 #include "cartographer_grpc/handlers/add_imu_data_handler.h"
-#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/testing/add_data_handler_test.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer_grpc/testing/test_helpers.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 "google/protobuf/text_format.h"
-#include "google/protobuf/util/message_differencer.h"
 #include "gtest/gtest.h"
 
 namespace cartographer_grpc {
@@ -31,8 +27,6 @@ namespace {
 using ::testing::_;
 using ::testing::Eq;
 using ::testing::Pointee;
-using ::testing::Return;
-using ::testing::Test;
 using ::testing::Truly;
 
 const std::string kMessage = R"PROTO(
@@ -54,87 +48,35 @@ const std::string kMessage = R"PROTO(
     }
   })PROTO";
 
-using DataPredicateType =
+using AddImuDataHandlerTest = testing::AddDataHandlerTest<AddImuDataHandler>;
-    std::function<bool(const cartographer::sensor::Data &)>;
-using ProtoPredicateType =
-    std::function<bool(const google::protobuf::Message &)>;
-
-class AddImuDataHandlerTest : public Test {
- public:
-  void SetUp() override {
-    test_server_ = cartographer::common::make_unique<
-        framework::testing::RpcHandlerTestServer<AddImuDataHandler>>(
-        cartographer::common::make_unique<testing::MockMapBuilderContext>());
-    mock_map_builder_context_ =
-        test_server_
-            ->GetUnsynchronizedContext<testing::MockMapBuilderContext>();
-    mock_local_trajectory_uploader_ = cartographer::common::make_unique<
-        testing::MockLocalTrajectoryUploader>();
-    EXPECT_TRUE(
-        google::protobuf::TextFormat::ParseFromString(kMessage, &request_));
-  }
-
-  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<AddImuDataHandler>>
-      test_server_;
-  testing::MockMapBuilderContext *mock_map_builder_context_;
-  std::unique_ptr<testing::MockLocalTrajectoryUploader>
-      mock_local_trajectory_uploader_;
-  proto::AddImuDataRequest request_;
-};
-
-DataPredicateType BuildDataPredicateEquals(
-    const proto::AddImuDataRequest &proto) {
-  return [proto](const cartographer::sensor::Data &data) {
-    const auto *dispatchable =
-        dynamic_cast<const cartographer::sensor::Dispatchable<
-            cartographer::sensor::ImuData> *>(&data);
-    CHECK_NOTNULL(dispatchable);
-    return google::protobuf::util::MessageDifferencer::Equals(
-               cartographer::sensor::ToProto(dispatchable->data()),
-               proto.imu_data()) &&
-           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
-  };
-}
-
-ProtoPredicateType BuildProtoPredicateEquals(
-    const google::protobuf::Message *proto) {
-  return [proto](const google::protobuf::Message &message) {
-    return google::protobuf::util::MessageDifferencer::Equals(*proto, message);
-  };
-}
 
 TEST_F(AddImuDataHandlerTest, NoLocalSlamUploader) {
+  proto::AddImuDataRequest request;
+  EXPECT_TRUE(
+      google::protobuf::TextFormat::ParseFromString(kMessage, &request));
   SetNoLocalTrajectoryUploader();
-  EXPECT_CALL(
+  EXPECT_CALL(*mock_map_builder_context_,
-      *mock_map_builder_context_,
+              DoEnqueueSensorData(
-      DoEnqueueSensorData(Eq(request_.sensor_metadata().trajectory_id()),
+                  Eq(request.sensor_metadata().trajectory_id()),
-                          Pointee(Truly(BuildDataPredicateEquals(request_)))));
+                  Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
-  test_server_->SendWrite(request_);
+  test_server_->SendWrite(request);
   test_server_->SendWritesDone();
   test_server_->SendFinish();
 }
 
 TEST_F(AddImuDataHandlerTest, WithMockLocalSlamUploader) {
+  proto::AddImuDataRequest request;
+  EXPECT_TRUE(
+      google::protobuf::TextFormat::ParseFromString(kMessage, &request));
   SetMockLocalTrajectoryUploader();
-  EXPECT_CALL(
+  EXPECT_CALL(*mock_map_builder_context_,
-      *mock_map_builder_context_,
+              DoEnqueueSensorData(
-      DoEnqueueSensorData(Eq(request_.sensor_metadata().trajectory_id()),
+                  Eq(request.sensor_metadata().trajectory_id()),
-                          Pointee(Truly(BuildDataPredicateEquals(request_)))));
+                  Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
   EXPECT_CALL(*mock_local_trajectory_uploader_,
-              DoEnqueueDataRequest(
+              DoEnqueueDataRequest(Pointee(
-                  Pointee(Truly(BuildProtoPredicateEquals(&request_)))));
+                  Truly(testing::BuildProtoPredicateEquals(&request)))));
-  test_server_->SendWrite(request_);
+  test_server_->SendWrite(request);
   test_server_->SendWritesDone();
   test_server_->SendFinish();
 }

cartographer_grpc/handlers/add_landmark_data_handler_test.cc

@@ -0,0 +1,95 @@
+/*
+ * 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

cartographer_grpc/handlers/add_odometry_data_handler_test.cc

@@ -0,0 +1,90 @@
+/*
+ * 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_odometry_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"
+  }
+  odometry_data {
+    timestamp: 2
+    pose {
+      translation {
+        x: 3
+        y: 4
+        z: 5
+      }
+      rotation {
+        x: 6
+        y: 7
+        z: 8
+        w: 9
+      }
+    }
+  })PROTO";
+
+using AddOdometryDataHandlerTest =
+    testing::AddDataHandlerTest<AddOdometryDataHandler>;
+
+TEST_F(AddOdometryDataHandlerTest, NoLocalSlamUploader) {
+  proto::AddOdometryDataRequest 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(AddOdometryDataHandlerTest, WithMockLocalSlamUploader) {
+  proto::AddOdometryDataRequest 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

cartographer_grpc/handlers/add_rangefind_data_handler_test.cc

@@ -0,0 +1,70 @@
+/*
+ * 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_rangefinder_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"
+  }
+  timed_point_cloud_data {
+    timestamp: 2
+    origin {
+      x: 3.f
+      y: 4.f
+      z: 5.f
+    }
+    point_data {
+      x: 6.f
+      y: 7.f
+      z: 8.f
+      t: 9.f
+    }
+  })PROTO";
+
+using AddRangefinderDataHandlerTest =
+    testing::AddDataHandlerTest<AddRangefinderDataHandler>;
+
+TEST_F(AddRangefinderDataHandlerTest, NoLocalSlamUploader) {
+  proto::AddRangefinderDataRequest request;
+  EXPECT_TRUE(
+      google::protobuf::TextFormat::ParseFromString(kMessage, &request));
+  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();
+}
+
+}  // namespace
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/testing/add_data_handler_test.h

@@ -0,0 +1,66 @@
+/*
+ * 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

cartographer_grpc/testing/test_helpers.cc

@@ -0,0 +1,105 @@
+/*
+ * 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/testing/test_helpers.h"
+
+namespace cartographer_grpc {
+namespace testing {
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddImuDataRequest>(
+    const proto::AddImuDataRequest &proto) {
+  return [proto](const cartographer::sensor::Data &data) {
+    const auto *dispatchable =
+        dynamic_cast<const cartographer::sensor::Dispatchable<
+            cartographer::sensor::ImuData> *>(&data);
+    CHECK_NOTNULL(dispatchable);
+    return google::protobuf::util::MessageDifferencer::Equals(
+               cartographer::sensor::ToProto(dispatchable->data()),
+               proto.imu_data()) &&
+           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
+  };
+}
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddFixedFramePoseDataRequest>(
+    const proto::AddFixedFramePoseDataRequest &proto) {
+  return [proto](const cartographer::sensor::Data &data) {
+    const auto *dispatchable =
+        dynamic_cast<const cartographer::sensor::Dispatchable<
+            cartographer::sensor::FixedFramePoseData> *>(&data);
+    CHECK_NOTNULL(dispatchable);
+    return google::protobuf::util::MessageDifferencer::Equals(
+               cartographer::sensor::ToProto(dispatchable->data()),
+               proto.fixed_frame_pose_data()) &&
+           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
+  };
+}
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddOdometryDataRequest>(
+    const proto::AddOdometryDataRequest &proto) {
+  return [proto](const cartographer::sensor::Data &data) {
+    const auto *dispatchable =
+        dynamic_cast<const cartographer::sensor::Dispatchable<
+            cartographer::sensor::OdometryData> *>(&data);
+    CHECK_NOTNULL(dispatchable);
+    return google::protobuf::util::MessageDifferencer::Equals(
+               cartographer::sensor::ToProto(dispatchable->data()),
+               proto.odometry_data()) &&
+           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
+  };
+}
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddLandmarkDataRequest>(
+    const proto::AddLandmarkDataRequest &proto) {
+  return [proto](const cartographer::sensor::Data &data) {
+    const auto *dispatchable =
+        dynamic_cast<const cartographer::sensor::Dispatchable<
+            cartographer::sensor::LandmarkData> *>(&data);
+    CHECK_NOTNULL(dispatchable);
+    return google::protobuf::util::MessageDifferencer::Equals(
+               cartographer::sensor::ToProto(dispatchable->data()),
+               proto.landmark_data()) &&
+           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
+  };
+}
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddRangefinderDataRequest>(
+    const proto::AddRangefinderDataRequest &proto) {
+  return [proto](const cartographer::sensor::Data &data) {
+    const auto *dispatchable =
+        dynamic_cast<const cartographer::sensor::Dispatchable<
+            cartographer::sensor::TimedPointCloudData> *>(&data);
+    CHECK_NOTNULL(dispatchable);
+    return google::protobuf::util::MessageDifferencer::Equals(
+               cartographer::sensor::ToProto(dispatchable->data()),
+               proto.timed_point_cloud_data()) &&
+           dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
+  };
+}
+
+ProtoPredicateType BuildProtoPredicateEquals(
+    const google::protobuf::Message *proto) {
+  return [proto](const google::protobuf::Message &message) {
+    return google::protobuf::util::MessageDifferencer::Equals(*proto, message);
+  };
+}
+
+}  // namespace testing
+}  // namespace cartographer_grpc

cartographer_grpc/testing/test_helpers.h

@@ -0,0 +1,57 @@
+/*
+ * 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_TEST_HELPERS_H
+#define CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H
+
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/util/message_differencer.h"
+
+namespace cartographer_grpc {
+namespace testing {
+
+using DataPredicateType =
+    std::function<bool(const cartographer::sensor::Data &)>;
+using ProtoPredicateType =
+    std::function<bool(const google::protobuf::Message &)>;
+
+template <typename T>
+DataPredicateType BuildDataPredicateEquals(const T &proto);
+
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddImuDataRequest>(
+    const proto::AddImuDataRequest &proto);
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddFixedFramePoseDataRequest>(
+    const proto::AddFixedFramePoseDataRequest &proto);
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddOdometryDataRequest>(
+    const proto::AddOdometryDataRequest &proto);
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddLandmarkDataRequest>(
+    const proto::AddLandmarkDataRequest &proto);
+template <>
+DataPredicateType BuildDataPredicateEquals<proto::AddRangefinderDataRequest>(
+    const proto::AddRangefinderDataRequest &proto);
+
+ProtoPredicateType BuildProtoPredicateEquals(
+    const google::protobuf::Message *proto);
+
+}  // namespace testing
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H