118 lines
3.5 KiB
C++
118 lines
3.5 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/ordered_multi_queue.h"
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#include <vector>
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#include "cartographer/common/make_unique.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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class OrderedMultiQueueTest : public ::testing::Test {
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protected:
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// These are keys are chosen so that they sort first, second, third.
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const QueueKey kFirst{1, "a"};
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const QueueKey kSecond{1, "b"};
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const QueueKey kThird{2, "b"};
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void SetUp() {
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for (const auto& queue_key : {kFirst, kSecond, kThird}) {
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queue_.AddQueue(queue_key, [this](std::unique_ptr<Data> data) {
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if (!values_.empty()) {
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EXPECT_GE(data->GetTime(), values_.back()->GetTime());
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}
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values_.push_back(std::move(data));
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});
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}
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}
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std::unique_ptr<Data> MakeImu(const int ordinal) {
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return MakeDispatchable(
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"imu",
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sensor::ImuData{common::FromUniversal(ordinal), Eigen::Vector3d::Zero(),
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Eigen::Vector3d::Zero()});
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}
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std::vector<std::unique_ptr<Data>> values_;
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OrderedMultiQueue queue_;
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};
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TEST_F(OrderedMultiQueueTest, Ordering) {
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queue_.Add(kFirst, MakeImu(0));
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queue_.Add(kFirst, MakeImu(4));
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queue_.Add(kFirst, MakeImu(5));
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queue_.Add(kFirst, MakeImu(6));
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EXPECT_TRUE(values_.empty());
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queue_.Add(kSecond, MakeImu(0));
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queue_.Add(kSecond, MakeImu(1));
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EXPECT_TRUE(values_.empty());
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queue_.Add(kThird, MakeImu(0));
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queue_.Add(kThird, MakeImu(2));
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EXPECT_EQ(values_.size(), 4);
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queue_.Add(kSecond, MakeImu(3));
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EXPECT_EQ(values_.size(), 5);
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queue_.Add(kSecond, MakeImu(7));
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queue_.Add(kThird, MakeImu(8));
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queue_.Flush();
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EXPECT_EQ(11, values_.size());
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for (size_t i = 0; i < values_.size() - 1; ++i) {
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EXPECT_LE(values_[i]->GetTime(), values_[i + 1]->GetTime());
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}
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}
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TEST_F(OrderedMultiQueueTest, MarkQueueAsFinished) {
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queue_.Add(kFirst, MakeImu(1));
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queue_.Add(kFirst, MakeImu(2));
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queue_.Add(kFirst, MakeImu(3));
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EXPECT_TRUE(values_.empty());
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queue_.MarkQueueAsFinished(kFirst);
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EXPECT_TRUE(values_.empty());
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queue_.MarkQueueAsFinished(kSecond);
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EXPECT_TRUE(values_.empty());
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queue_.MarkQueueAsFinished(kThird);
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EXPECT_EQ(3, values_.size());
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for (size_t i = 0; i < values_.size(); ++i) {
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EXPECT_EQ(i + 1, common::ToUniversal(values_[i]->GetTime()));
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}
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}
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TEST_F(OrderedMultiQueueTest, CommonStartTimePerTrajectory) {
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queue_.Add(kFirst, MakeImu(0));
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queue_.Add(kFirst, MakeImu(1));
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queue_.Add(kFirst, MakeImu(2));
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queue_.Add(kFirst, MakeImu(3));
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queue_.Add(kSecond, MakeImu(2));
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EXPECT_TRUE(values_.empty());
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queue_.Add(kThird, MakeImu(4));
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EXPECT_EQ(values_.size(), 2);
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queue_.MarkQueueAsFinished(kFirst);
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EXPECT_EQ(values_.size(), 2);
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queue_.MarkQueueAsFinished(kSecond);
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EXPECT_EQ(values_.size(), 4);
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queue_.MarkQueueAsFinished(kThird);
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EXPECT_EQ(values_.size(), 4);
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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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