From def442b9dbb66153055fcd87e4326c40de09ae44 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Mon, 18 Dec 2017 20:47:00 +0100
Subject: [PATCH] Make MapBuilderServer testable (#771)

Pass MapBuilder to the constructor so the MapBuilder can be mocked.
---
 cartographer_grpc/client_server_test.cc      | 5 ++++-
 cartographer_grpc/map_builder_server.cc      | 9 +++++----
 cartographer_grpc/map_builder_server.h       | 5 +++--
 cartographer_grpc/map_builder_server_main.cc | 6 +++++-
 4 files changed, 17 insertions(+), 8 deletions(-)

diff --git a/cartographer_grpc/client_server_test.cc b/cartographer_grpc/client_server_test.cc
index 2b9c9f2..25ddc50 100644
--- a/cartographer_grpc/client_server_test.cc
+++ b/cartographer_grpc/client_server_test.cc
@@ -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);
   }
 
diff --git a/cartographer_grpc/map_builder_server.cc b/cartographer_grpc/map_builder_server.cc
index d30c962..8c5db4d 100644
--- a/cartographer_grpc/map_builder_server.cc
+++ b/cartographer_grpc/map_builder_server.cc
@@ -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(
diff --git a/cartographer_grpc/map_builder_server.h b/cartographer_grpc/map_builder_server.h
index 2896525..2b11de9 100644
--- a/cartographer_grpc/map_builder_server.h
+++ b/cartographer_grpc/map_builder_server.h
@@ -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_;
diff --git a/cartographer_grpc/map_builder_server_main.cc b/cartographer_grpc/map_builder_server_main.cc
index 4a2b6bb..f30160d 100644
--- a/cartographer_grpc/map_builder_server_main.cc
+++ b/cartographer_grpc/map_builder_server_main.cc
@@ -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();
 }