/*
 * 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_MOCK_MAP_BUILDER_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H

#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"

using testing::_;

namespace cartographer_grpc {
namespace testing {

class MockMapBuilder : public cartographer::mapping::MapBuilderInterface {
 public:
  MOCK_METHOD3(
      AddTrajectoryBuilder,
      int(const std::set<SensorId> &expected_sensor_ids,
          const cartographer::mapping::proto::TrajectoryBuilderOptions
              &trajectory_options,
          cartographer::mapping::MapBuilderInterface::LocalSlamResultCallback
              local_slam_result_callback));
  MOCK_METHOD1(AddTrajectoryForDeserialization,
               int(const cartographer::mapping::proto::
                       TrajectoryBuilderOptionsWithSensorIds
                           &options_with_sensor_ids_proto));
  MOCK_CONST_METHOD1(
      GetTrajectoryBuilder,
      cartographer::mapping::TrajectoryBuilderInterface *(int trajectory_id));
  MOCK_METHOD1(FinishTrajectory, void(int trajectory_id));
  MOCK_METHOD2(
      SubmapToProto,
      std::string(const cartographer::mapping::SubmapId &,
                  cartographer::mapping::proto::SubmapQuery::Response *));
  MOCK_METHOD1(SerializeState,
               void(cartographer::io::ProtoStreamWriterInterface *));
  MOCK_METHOD2(LoadState,
               void(cartographer::io::ProtoStreamReaderInterface *, bool));
  MOCK_CONST_METHOD0(num_trajectory_builders, int());
  MOCK_METHOD0(pose_graph, cartographer::mapping::PoseGraphInterface *());
  MOCK_CONST_METHOD0(
      GetAllTrajectoryBuilderOptions,
      const std::vector<
          cartographer::mapping::proto::TrajectoryBuilderOptionsWithSensorIds>
          &());
};

}  // namespace testing
}  // namespace cartographer_grpc

#endif  // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H