Test MapBuilderServer (#762)

Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.

cartographer/internal/mapping/test_helpers.cc

@@ -0,0 +1,41 @@
+/*
+ * Copyright 2017 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/internal/mapping/test_helpers.h"
+
+#include "cartographer/common/config.h"
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
+#include "cartographer/common/make_unique.h"
+
+namespace cartographer {
+namespace mapping {
+namespace test {
+
+std::unique_ptr<::cartographer::common::LuaParameterDictionary>
+ResolveLuaParameters(const std::string& lua_code) {
+  auto file_resolver = ::cartographer::common::make_unique<
+      ::cartographer::common::ConfigurationFileResolver>(
+      std::vector<std::string>{
+          std::string(::cartographer::common::kSourceDirectory) +
+          "/configuration_files"});
+  return common::make_unique<::cartographer::common::LuaParameterDictionary>(
+      lua_code, std::move(file_resolver));
+}
+
+}  // namespace test
+}  // namespace mapping
+}  // namespace cartographer

cartographer/internal/mapping/test_helpers.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2017 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_INTERNAL_MAPPING_TEST_HELPERS_H_
+#define CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
+
+#include <memory>
+
+#include "cartographer/common/lua_parameter_dictionary.h"
+
+namespace cartographer {
+namespace mapping {
+namespace test {
+
+std::unique_ptr<::cartographer::common::LuaParameterDictionary>
+ResolveLuaParameters(const std::string& lua_code);
+
+}  // namespace test
+}  // namespace mapping
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_

cartographer/mapping/map_builder_test.cc

@@ -21,9 +21,7 @@
 #include <vector>
 
 #include "cartographer/common/config.h"
-#include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
-#include "cartographer/common/make_unique.h"
+#include "cartographer/internal/mapping/test_helpers.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "gtest/gtest.h"
 
@@ -61,17 +59,6 @@ std::vector<sensor::TimedPointCloudData> GenerateFakeRangeMeasurements() {
   return measurements;
 }
 
-std::unique_ptr<::cartographer::common::LuaParameterDictionary>
-ResolveLuaParameters(const std::string& lua_code) {
-  auto file_resolver = ::cartographer::common::make_unique<
-      ::cartographer::common::ConfigurationFileResolver>(
-      std::vector<std::string>{
-          std::string(::cartographer::common::kSourceDirectory) +
-          "/configuration_files"});
-  return common::make_unique<::cartographer::common::LuaParameterDictionary>(
-      lua_code, std::move(file_resolver));
-}
-
 class MapBuilderTest : public ::testing::Test {
  protected:
   void SetUp() override {
@@ -81,7 +68,7 @@ class MapBuilderTest : public ::testing::Test {
       MAP_BUILDER.use_trajectory_builder_2d = true
       MAP_BUILDER.pose_graph.optimize_every_n_nodes = 0
       return MAP_BUILDER)text";
-    auto map_builder_parameters = ResolveLuaParameters(kMapBuilderLua);
+    auto map_builder_parameters = test::ResolveLuaParameters(kMapBuilderLua);
     map_builder_options_ =
         CreateMapBuilderOptions(map_builder_parameters.get());
     // Multiple submaps are created because of a small 'num_range_data'.
@@ -92,7 +79,7 @@ class MapBuilderTest : public ::testing::Test {
       TRAJECTORY_BUILDER.trajectory_builder_3d.submaps.num_range_data = 4
       return TRAJECTORY_BUILDER)text";
     auto trajectory_builder_parameters =
-        ResolveLuaParameters(kTrajectoryBuilderLua);
+        test::ResolveLuaParameters(kTrajectoryBuilderLua);
     trajectory_builder_options_ =
         CreateTrajectoryBuilderOptions(trajectory_builder_parameters.get());
   }

cartographer_grpc/client_server_test.cc

@@ -0,0 +1,62 @@
+/*
+ * Copyright 2017 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/internal/mapping/test_helpers.h"
+#include "cartographer_grpc/map_builder_server.h"
+#include "cartographer_grpc/map_builder_server_options.h"
+#include "cartographer_grpc/mapping/map_builder_stub.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace cartographer_grpc {
+namespace {
+
+class ClientServerTest : public ::testing::Test {
+ protected:
+  void SetUp() override {
+    // TODO(cschuet): Due to the hard-coded addresses these tests will become
+    // flaky when run in parallel.
+    const std::string kMapBuilderServerLua = R"text(
+      include "map_builder_server.lua"
+      MAP_BUILDER.use_trajectory_builder_2d = true
+      MAP_BUILDER.pose_graph.optimize_every_n_nodes = 0
+      MAP_BUILDER_SERVER = {
+        server_address = "0.0.0.0:50051",
+        num_event_threads = 1,
+        num_grpc_threads = 1,
+        map_builder = MAP_BUILDER,
+      }
+      return MAP_BUILDER_SERVER)text";
+    auto map_builder_server_parameters =
+        cartographer::mapping::test::ResolveLuaParameters(kMapBuilderServerLua);
+    auto map_builder_server_options =
+        CreateMapBuilderServerOptions(map_builder_server_parameters.get());
+    server_ = cartographer::common::make_unique<MapBuilderServer>(
+        map_builder_server_options);
+    EXPECT_TRUE(server_ != nullptr);
+  }
+
+  std::unique_ptr<MapBuilderServer> server_;
+  std::unique_ptr<mapping::MapBuilderStub> stub_;
+};
+
+TEST_F(ClientServerTest, StartAndStopServer) {
+  server_->Start();
+  server_->Shutdown();
+}
+
+}  // namespace
+}  // namespace cartographer_grpc