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Make MapBuilderServer testable (#771) 

Pass MapBuilder to the constructor so the MapBuilder can be mocked.
master
gaschler 2017-12-18 20:47:00 +01:00 committed by Wally B. Feed
parent 5bb81a9b4a
commit def442b9db
4 changed files with 17 additions and 8 deletions
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5
cartographer_grpc/client_server_test.cc
View File

@ -44,8 +44,11 @@ class ClientServerTest : public ::testing::Test {
cartographer::mapping::test::ResolveLuaParameters(kMapBuilderServerLua);
auto map_builder_server_options =
CreateMapBuilderServerOptions(map_builder_server_parameters.get());
auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
map_builder_server_options.map_builder_options());
server_ = cartographer::common::make_unique<MapBuilderServer>(
map_builder_server_options);
map_builder_server_options, std::move(map_builder));
EXPECT_TRUE(server_ != nullptr);
}

9
cartographer_grpc/map_builder_server.cc
View File

@ -39,7 +39,7 @@ MapBuilderServer::MapBuilderContext::MapBuilderContext(
cartographer::mapping::MapBuilder&
MapBuilderServer::MapBuilderContext::map_builder() {
return map_builder_server_->map_builder_;
return *map_builder_server_->map_builder_;
}
cartographer::common::BlockingQueue<
@ -66,13 +66,14 @@ MapBuilderServer::MapBuilderContext::
void MapBuilderServer::MapBuilderContext::AddSensorDataToTrajectory(
const SensorData& sensor_data) {
sensor_data.sensor_data->AddToTrajectoryBuilder(
map_builder_server_->map_builder_.GetTrajectoryBuilder(
map_builder_server_->map_builder_->GetTrajectoryBuilder(
sensor_data.trajectory_id));
}
MapBuilderServer::MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options)
: map_builder_(map_builder_server_options.map_builder_options()) {
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilder> map_builder)
: map_builder_(std::move(map_builder)) {
framework::Server::Builder server_builder;
server_builder.SetServerAddress(map_builder_server_options.server_address());
server_builder.SetNumGrpcThreads(

5
cartographer_grpc/map_builder_server.h
View File

@ -74,7 +74,8 @@ class MapBuilderServer {
friend MapBuilderContext;
MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options);
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilder> map_builder);
// Starts the gRPC server and the SLAM thread.
void Start();
@ -105,7 +106,7 @@ class MapBuilderServer {
bool shutting_down_ = false;
std::unique_ptr<std::thread> slam_thread_;
std::unique_ptr<framework::Server> grpc_server_;
cartographer::mapping::MapBuilder map_builder_;
std::unique_ptr<cartographer::mapping::MapBuilder> map_builder_;
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>
sensor_data_queue_;
cartographer::common::Mutex local_slam_subscriptions_lock_;

6
cartographer_grpc/map_builder_server_main.cc
View File

@ -34,7 +34,11 @@ void Run(const std::string& configuration_directory,
proto::MapBuilderServerOptions map_builder_server_options =
LoadMapBuilderServerOptions(configuration_directory,
configuration_basename);
MapBuilderServer map_builder_server(map_builder_server_options);
auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
map_builder_server_options.map_builder_options());
MapBuilderServer map_builder_server(map_builder_server_options,
std::move(map_builder));
map_builder_server.Start();
map_builder_server.WaitForShutdown();
}