63 lines
2.1 KiB
C++
63 lines
2.1 KiB
C++
/*
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* Copyright 2017 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/internal/mapping/test_helpers.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/map_builder_server_options.h"
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#include "cartographer_grpc/mapping/map_builder_stub.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace cartographer_grpc {
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namespace {
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class ClientServerTest : public ::testing::Test {
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protected:
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void SetUp() override {
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// TODO(cschuet): Due to the hard-coded addresses these tests will become
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// flaky when run in parallel.
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const std::string kMapBuilderServerLua = R"text(
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include "map_builder_server.lua"
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MAP_BUILDER.use_trajectory_builder_2d = true
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MAP_BUILDER.pose_graph.optimize_every_n_nodes = 0
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MAP_BUILDER_SERVER = {
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server_address = "0.0.0.0:50051",
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num_event_threads = 1,
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num_grpc_threads = 1,
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map_builder = MAP_BUILDER,
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}
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return MAP_BUILDER_SERVER)text";
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auto map_builder_server_parameters =
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cartographer::mapping::test::ResolveLuaParameters(kMapBuilderServerLua);
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auto map_builder_server_options =
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CreateMapBuilderServerOptions(map_builder_server_parameters.get());
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server_ = cartographer::common::make_unique<MapBuilderServer>(
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map_builder_server_options);
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EXPECT_TRUE(server_ != nullptr);
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}
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std::unique_ptr<MapBuilderServer> server_;
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std::unique_ptr<mapping::MapBuilderStub> stub_;
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};
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TEST_F(ClientServerTest, StartAndStopServer) {
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server_->Start();
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server_->Shutdown();
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}
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} // namespace
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} // namespace cartographer_grpc
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