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