82 lines
3.4 KiB
C++
82 lines
3.4 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_MOCK_MAP_BUILDER_CONTEXT_H
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#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
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#include "cartographer/mapping/local_slam_result_data.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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#include "glog/logging.h"
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#include "gmock/gmock.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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class MockMapBuilderContext : public MapBuilderContextInterface {
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public:
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MOCK_METHOD0(map_builder, cartographer::mapping::MapBuilderInterface &());
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MOCK_METHOD0(sensor_data_queue,
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cartographer::common::BlockingQueue<
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std::unique_ptr<MapBuilderContextInterface::Data>> &());
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MOCK_METHOD0(GetLocalSlamResultCallbackForSubscriptions,
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cartographer::mapping::TrajectoryBuilderInterface::
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LocalSlamResultCallback());
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MOCK_METHOD1(AddSensorDataToTrajectory,
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void(const MapBuilderContextInterface::Data &));
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MOCK_METHOD2(SubscribeLocalSlamResults,
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MapBuilderContextInterface::SubscriptionId(
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int,
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MapBuilderContextInterface::LocalSlamSubscriptionCallback));
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MOCK_METHOD1(UnsubscribeLocalSlamResults,
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void(const MapBuilderContextInterface::SubscriptionId &));
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MOCK_METHOD1(NotifyFinishTrajectory, void(int));
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MOCK_METHOD3(DoProcessLocalSlamResultData,
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cartographer::mapping::LocalSlamResultData *(
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const std::string &, cartographer::common::Time,
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const cartographer::mapping::proto::LocalSlamResultData &));
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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ProcessLocalSlamResultData(
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const std::string &sensor_id, cartographer::common::Time time,
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const cartographer::mapping::proto::LocalSlamResultData &proto) override {
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return std::unique_ptr<cartographer::mapping::LocalSlamResultData>(
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DoProcessLocalSlamResultData(sensor_id, time, proto));
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}
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MOCK_METHOD0(local_trajectory_uploader, LocalTrajectoryUploaderInterface *());
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MOCK_METHOD2(DoEnqueueSensorData, void(int, cartographer::sensor::Data *));
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void EnqueueSensorData(
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int trajectory_id,
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std::unique_ptr<cartographer::sensor::Data> data) override {
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DoEnqueueSensorData(trajectory_id, data.get());
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}
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MOCK_METHOD3(DoEnqueueLocalSlamResultData,
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void(int, const std::string &,
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cartographer::mapping::LocalSlamResultData *));
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void EnqueueLocalSlamResultData(
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int trajectory_id, const std::string &sensor_id,
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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local_slam_result_data) override {
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DoEnqueueLocalSlamResultData(trajectory_id, sensor_id,
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local_slam_result_data.get());
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}
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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_MOCK_MAP_BUILDER_CONTEXT_H
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