145 lines
4.8 KiB
C++
145 lines
4.8 KiB
C++
/*
|
|
* 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.
|
|
*/
|
|
|
|
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
|
|
#include "cartographer/common/make_unique.h"
|
|
#include "cartographer/sensor/dispatchable.h"
|
|
#include "cartographer_grpc/framework/testing/rpc_handler_test_server.h"
|
|
#include "cartographer_grpc/testing/mock_local_trajectory_uploader.h"
|
|
#include "cartographer_grpc/testing/mock_map_builder_context.h"
|
|
#include "google/protobuf/text_format.h"
|
|
#include "google/protobuf/util/message_differencer.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace cartographer_grpc {
|
|
namespace handlers {
|
|
namespace {
|
|
|
|
using ::testing::_;
|
|
using ::testing::Eq;
|
|
using ::testing::Pointee;
|
|
using ::testing::Return;
|
|
using ::testing::Test;
|
|
using ::testing::Truly;
|
|
|
|
const std::string kMessage = R"PROTO(
|
|
sensor_metadata {
|
|
trajectory_id: 1
|
|
sensor_id: "sensor_id"
|
|
}
|
|
imu_data {
|
|
timestamp: 2
|
|
linear_acceleration {
|
|
x: 3
|
|
y: 4
|
|
z: 5
|
|
}
|
|
angular_velocity {
|
|
x: 6
|
|
y: 7
|
|
z: 8
|
|
}
|
|
})PROTO";
|
|
|
|
using DataPredicateType =
|
|
std::function<bool(const cartographer::sensor::Data &)>;
|
|
using ProtoPredicateType =
|
|
std::function<bool(const google::protobuf::Message &)>;
|
|
|
|
class AddImuDataHandlerTest : public Test {
|
|
public:
|
|
void SetUp() override {
|
|
test_server_ = cartographer::common::make_unique<
|
|
framework::testing::RpcHandlerTestServer<AddImuDataHandler>>(
|
|
cartographer::common::make_unique<testing::MockMapBuilderContext>());
|
|
mock_map_builder_context_ =
|
|
test_server_
|
|
->GetUnsynchronizedContext<testing::MockMapBuilderContext>();
|
|
mock_local_trajectory_uploader_ = cartographer::common::make_unique<
|
|
testing::MockLocalTrajectoryUploader>();
|
|
EXPECT_TRUE(
|
|
google::protobuf::TextFormat::ParseFromString(kMessage, &request_));
|
|
}
|
|
|
|
void SetNoLocalTrajectoryUploader() {
|
|
EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
|
|
.WillOnce(Return(nullptr));
|
|
}
|
|
|
|
void SetMockLocalTrajectoryUploader() {
|
|
EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader())
|
|
.WillRepeatedly(Return(mock_local_trajectory_uploader_.get()));
|
|
}
|
|
|
|
protected:
|
|
std::unique_ptr<framework::testing::RpcHandlerTestServer<AddImuDataHandler>>
|
|
test_server_;
|
|
testing::MockMapBuilderContext *mock_map_builder_context_;
|
|
std::unique_ptr<testing::MockLocalTrajectoryUploader>
|
|
mock_local_trajectory_uploader_;
|
|
proto::AddImuDataRequest request_;
|
|
};
|
|
|
|
DataPredicateType BuildDataPredicateEquals(
|
|
const proto::AddImuDataRequest &proto) {
|
|
return [proto](const cartographer::sensor::Data &data) {
|
|
const auto *dispatchable =
|
|
dynamic_cast<const cartographer::sensor::Dispatchable<
|
|
cartographer::sensor::ImuData> *>(&data);
|
|
CHECK_NOTNULL(dispatchable);
|
|
return google::protobuf::util::MessageDifferencer::Equals(
|
|
cartographer::sensor::ToProto(dispatchable->data()),
|
|
proto.imu_data()) &&
|
|
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
|
|
};
|
|
}
|
|
|
|
ProtoPredicateType BuildProtoPredicateEquals(
|
|
const google::protobuf::Message *proto) {
|
|
return [proto](const google::protobuf::Message &message) {
|
|
return google::protobuf::util::MessageDifferencer::Equals(*proto, message);
|
|
};
|
|
}
|
|
|
|
TEST_F(AddImuDataHandlerTest, NoLocalSlamUploader) {
|
|
SetNoLocalTrajectoryUploader();
|
|
EXPECT_CALL(
|
|
*mock_map_builder_context_,
|
|
DoEnqueueSensorData(Eq(request_.sensor_metadata().trajectory_id()),
|
|
Pointee(Truly(BuildDataPredicateEquals(request_)))));
|
|
test_server_->SendWrite(request_);
|
|
test_server_->SendWritesDone();
|
|
test_server_->SendFinish();
|
|
}
|
|
|
|
TEST_F(AddImuDataHandlerTest, WithMockLocalSlamUploader) {
|
|
SetMockLocalTrajectoryUploader();
|
|
EXPECT_CALL(
|
|
*mock_map_builder_context_,
|
|
DoEnqueueSensorData(Eq(request_.sensor_metadata().trajectory_id()),
|
|
Pointee(Truly(BuildDataPredicateEquals(request_)))));
|
|
EXPECT_CALL(*mock_local_trajectory_uploader_,
|
|
DoEnqueueDataRequest(
|
|
Pointee(Truly(BuildProtoPredicateEquals(&request_)))));
|
|
test_server_->SendWrite(request_);
|
|
test_server_->SendWritesDone();
|
|
test_server_->SendFinish();
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace handlers
|
|
} // namespace cartographer_grpc
|