80 lines
2.9 KiB
C++
80 lines
2.9 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H
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#define CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/testing/rpc_handler_test_server.h"
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#include "cartographer_grpc/testing/mock_local_trajectory_uploader.h"
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#include "cartographer_grpc/testing/mock_map_builder.h"
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#include "cartographer_grpc/testing/mock_map_builder_context.h"
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#include "cartographer_grpc/testing/mock_pose_graph.h"
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#include "gtest/gtest.h"
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namespace cartographer_grpc {
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namespace testing {
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using ::testing::Return;
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using ::testing::Test;
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template <typename HandlerType>
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class HandlerTest : public Test {
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public:
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void SetUp() override {
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test_server_ = cartographer::common::make_unique<
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framework::testing::RpcHandlerTestServer<HandlerType>>(
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cartographer::common::make_unique<MockMapBuilderContext>());
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mock_map_builder_context_ =
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test_server_
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->template GetUnsynchronizedContext<MockMapBuilderContext>();
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mock_local_trajectory_uploader_ =
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cartographer::common::make_unique<MockLocalTrajectoryUploader>();
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mock_map_builder_ = cartographer::common::make_unique<MockMapBuilder>();
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mock_pose_graph_ = cartographer::common::make_unique<MockPoseGraph>();
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EXPECT_CALL(*mock_map_builder_context_, map_builder())
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.Times(::testing::AnyNumber())
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.WillRepeatedly(::testing::ReturnPointee(mock_map_builder_.get()));
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EXPECT_CALL(*mock_map_builder_, pose_graph())
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.Times(::testing::AnyNumber())
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.WillRepeatedly(Return(mock_pose_graph_.get()));
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}
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void SetNoLocalTrajectoryUploader() {
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EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
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.WillOnce(Return(nullptr));
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}
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void SetMockLocalTrajectoryUploader() {
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EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
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.WillRepeatedly(Return(mock_local_trajectory_uploader_.get()));
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}
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protected:
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std::unique_ptr<framework::testing::RpcHandlerTestServer<HandlerType>>
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test_server_;
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MockMapBuilderContext* mock_map_builder_context_;
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std::unique_ptr<MockLocalTrajectoryUploader> mock_local_trajectory_uploader_;
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std::unique_ptr<MockMapBuilder> mock_map_builder_;
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std::unique_ptr<MockPoseGraph> mock_pose_graph_;
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};
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} // namespace testing
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H
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