87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/*
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* Copyright 2016 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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#include "cartographer/sensor/collator.h"
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#include <memory>
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#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace sensor {
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namespace {
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struct TestData {
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string frame_id;
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};
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TEST(Collator, Ordering) {
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TestData first{"horizontal_laser"};
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TestData second{"vertical_laser"};
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TestData third{"imu"};
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TestData fourth{"horizontal_laser"};
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TestData fifth{"vertical_laser"};
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TestData sixth{"something"};
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const std::unordered_set<string> frame_ids = {
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"horizontal_laser", "vertical_laser", "imu", "something"};
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std::vector<std::pair<int64, TestData>> received;
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Collator<TestData> collator;
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collator.AddTrajectory(
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0, frame_ids,
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[&received](const int64 timestamp, std::unique_ptr<TestData> packet) {
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received.push_back(std::make_pair(timestamp, *packet));
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});
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collator.AddSensorData(0, 100, first.frame_id,
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common::make_unique<TestData>(first));
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collator.AddSensorData(0, 600, sixth.frame_id,
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common::make_unique<TestData>(sixth));
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collator.AddSensorData(0, 400, fourth.frame_id,
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common::make_unique<TestData>(fourth));
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collator.AddSensorData(0, 200, second.frame_id,
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common::make_unique<TestData>(second));
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collator.AddSensorData(0, 500, fifth.frame_id,
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common::make_unique<TestData>(fifth));
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collator.AddSensorData(0, 300, third.frame_id,
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common::make_unique<TestData>(third));
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EXPECT_EQ(3, received.size());
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EXPECT_EQ(100, received[0].first);
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EXPECT_EQ("horizontal_laser", received[0].second.frame_id);
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EXPECT_EQ(200, received[1].first);
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EXPECT_EQ("vertical_laser", received[1].second.frame_id);
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EXPECT_EQ(300, received[2].first);
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EXPECT_EQ("imu", received[2].second.frame_id);
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collator.Flush();
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ASSERT_EQ(6, received.size());
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EXPECT_EQ("horizontal_laser", received[3].second.frame_id);
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EXPECT_EQ(500, received[4].first);
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EXPECT_EQ("vertical_laser", received[4].second.frame_id);
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EXPECT_EQ(600, received[5].first);
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EXPECT_EQ("something", received[5].second.frame_id);
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}
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} // namespace
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} // namespace sensor
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} // namespace cartographer
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