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Making a test nicer: procrastination and nits. (#1175)

master
Alexander Belyaev 2018-05-30 12:56:59 +02:00 committed by GitHub
parent 876a41f06f
commit 87370371ec
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1 changed files with 47 additions and 85 deletions
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132
cartographer/io/proto_stream_deserializer_test.cc
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@ -36,49 +36,19 @@ using ::google::protobuf::util::MessageDifferencer;
using ::testing::Eq;
using ::testing::Not;
static constexpr char kSerializationHeaderProtoString[] = R"PROTO(
format_version: 1
)PROTO";
static constexpr char kUnsupportedSerializationHeaderProtoString[] = R"PROTO(
format_version: 123
)PROTO";
static constexpr char kPoseGraphProtoString[] = R"PROTO(
pose_graph {}
)PROTO";
static constexpr char kAllTrajectoryBuilderOptionsProtoString[] = R"PROTO(
all_trajectory_builder_options {}
)PROTO";
static constexpr char kSubmapProtoString[] = R"PROTO(
submap {}
)PROTO";
static constexpr char kNodeProtoString[] = R"PROTO(
node {}
)PROTO";
static constexpr char kTrajectoryDataProtoString[] = R"PROTO(
trajectory_data {}
)PROTO";
static constexpr char kImuDataProtoString[] = R"PROTO(
imu_data {}
)PROTO";
static constexpr char kOdometryDataProtoString[] = R"PROTO(
odometry_data {}
)PROTO";
static constexpr char kFixedFramePoseDataProtoString[] = R"PROTO(
fixed_frame_pose_data {}
)PROTO";
static constexpr char kLandmarkDataProtoString[] = R"PROTO(
landmark_data {}
)PROTO";
constexpr char kSerializationHeaderProtoString[] = "format_version: 1";
constexpr char kUnsupportedSerializationHeaderProtoString[] =
"format_version: 123";
constexpr char kPoseGraphProtoString[] = "pose_graph {}";
constexpr char kAllTrajectoryBuilderOptionsProtoString[] =
"all_trajectory_builder_options {}";
constexpr char kSubmapProtoString[] = "submap {}";
constexpr char kNodeProtoString[] = "node {}";
constexpr char kTrajectoryDataProtoString[] = "trajectory_data {}";
constexpr char kImuDataProtoString[] = "imu_data {}";
constexpr char kOdometryDataProtoString[] = "odometry_data {}";
constexpr char kFixedFramePoseDataProtoString[] = "fixed_frame_pose_data {}";
constexpr char kLandmarkDataProtoString[] = "landmark_data {}";
template <typename T>
T ProtoFromStringOrDie(const std::string& proto_string) {
@ -87,45 +57,41 @@ T ProtoFromStringOrDie(const std::string& proto_string) {
return msg;
}
template <typename T>
std::unique_ptr<T> ProtoUPtrFromStringOrDie(const std::string& proto_string) {
return make_unique<T>(ProtoFromStringOrDie<T>(proto_string));
}
class ProtoStreamDeserializerTest : public ::testing::Test {
protected:
void InitializeProtoReader(
const std::string& header_textpb,
const std::initializer_list<std::string>& data_textpbs) {
std::queue<std::unique_ptr<Message>> proto_queue;
proto_queue.emplace(make_unique<SerializationHeader>(
ProtoFromStringOrDie<SerializationHeader>(header_textpb)));
for (const std::string& data_textpb : data_textpbs) {
proto_queue.emplace(make_unique<SerializedData>(
ProtoFromStringOrDie<SerializedData>(data_textpb)));
}
reader_ = make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
}
std::unique_ptr<InMemoryProtoStreamReader>
CreateInMemoryReaderFromTextProtos() {
std::queue<std::unique_ptr<Message>> proto_queue;
proto_queue.emplace(ProtoUPtrFromStringOrDie<SerializationHeader>(
kSerializationHeaderProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kPoseGraphProtoString));
proto_queue.emplace(ProtoUPtrFromStringOrDie<SerializedData>(
kAllTrajectoryBuilderOptionsProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kSubmapProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kNodeProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kTrajectoryDataProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kImuDataProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kOdometryDataProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kFixedFramePoseDataProtoString));
proto_queue.emplace(
ProtoUPtrFromStringOrDie<SerializedData>(kLandmarkDataProtoString));
return make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
}
std::unique_ptr<InMemoryProtoStreamReader> reader_;
};
// This test checks if the serialization works.
TEST(ProtoStreamDeserializerTest, WorksOnGoldenTextStream) {
TEST_F(ProtoStreamDeserializerTest, WorksOnGoldenTextStream) {
// Load text proto into in_memory_reader.
std::unique_ptr<InMemoryProtoStreamReader> reader =
CreateInMemoryReaderFromTextProtos();
InitializeProtoReader(kSerializationHeaderProtoString,
{
kPoseGraphProtoString,
kAllTrajectoryBuilderOptionsProtoString,
kSubmapProtoString,
kNodeProtoString,
kTrajectoryDataProtoString,
kImuDataProtoString,
kOdometryDataProtoString,
kFixedFramePoseDataProtoString,
kLandmarkDataProtoString,
});
io::ProtoStreamDeserializer deserializer(reader.get());
io::ProtoStreamDeserializer deserializer(reader_.get());
EXPECT_TRUE(MessageDifferencer::Equals(
deserializer.header(), ProtoFromStringOrDie<SerializationHeader>(
@ -179,16 +145,12 @@ TEST(ProtoStreamDeserializerTest, WorksOnGoldenTextStream) {
ProtoFromStringOrDie<SerializedData>(kLandmarkDataProtoString)));
EXPECT_FALSE(deserializer.ReadNextSerializedData(&serialized_data));
EXPECT_TRUE(reader->eof());
EXPECT_TRUE(reader_->eof());
}
TEST(ProtoStreamDeserializerDeathTests, FailsIfVersionNotSupported) {
std::queue<std::unique_ptr<Message>> proto_queue;
proto_queue.emplace(ProtoUPtrFromStringOrDie<SerializationHeader>(
kUnsupportedSerializationHeaderProtoString));
InMemoryProtoStreamReader reader(std::move(proto_queue));
EXPECT_DEATH(common::make_unique<ProtoStreamDeserializer>(&reader),
TEST_F(ProtoStreamDeserializerTest, FailsIfVersionNotSupported) {
InitializeProtoReader(kUnsupportedSerializationHeaderProtoString, {});
EXPECT_DEATH(common::make_unique<ProtoStreamDeserializer>(reader_.get()),
"Unsupported serialization format");
}