00001 /* 00002 * Copyright 2018 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H 00018 #define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H 00019 00020 #include "absl/memory/memory.h" 00021 #include "async_grpc/testing/rpc_handler_test_server.h" 00022 #include "cartographer/mapping/internal/testing/mock_map_builder.h" 00023 #include "cartographer/mapping/internal/testing/mock_pose_graph.h" 00024 #include "gtest/gtest.h" 00025 #include "mock_local_trajectory_uploader.h" 00026 #include "mock_map_builder_context.h" 00027 00028 namespace cartographer { 00029 namespace cloud { 00030 namespace testing { 00031 00032 using ::testing::Return; 00033 using ::testing::Test; 00034 00035 template <typename HandlerConcept, typename HandlerType> 00036 class HandlerTest : public Test { 00037 public: 00038 void SetUp() override { 00039 test_server_ = absl::make_unique< 00040 async_grpc::testing::RpcHandlerTestServer<HandlerConcept, HandlerType>>( 00041 absl::make_unique<MockMapBuilderContext>()); 00042 mock_map_builder_context_ = 00043 test_server_ 00044 ->template GetUnsynchronizedContext<MockMapBuilderContext>(); 00045 mock_local_trajectory_uploader_ = 00046 absl::make_unique<MockLocalTrajectoryUploader>(); 00047 mock_map_builder_ = absl::make_unique<mapping::testing::MockMapBuilder>(); 00048 mock_pose_graph_ = absl::make_unique<mapping::testing::MockPoseGraph>(); 00049 00050 EXPECT_CALL(*mock_map_builder_context_, map_builder()) 00051 .Times(::testing::AnyNumber()) 00052 .WillRepeatedly(::testing::ReturnPointee(mock_map_builder_.get())); 00053 EXPECT_CALL(*mock_map_builder_, pose_graph()) 00054 .Times(::testing::AnyNumber()) 00055 .WillRepeatedly(Return(mock_pose_graph_.get())); 00056 } 00057 00058 void SetNoLocalTrajectoryUploader() { 00059 EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader()) 00060 .WillOnce(Return(nullptr)); 00061 } 00062 00063 void SetMockLocalTrajectoryUploader() { 00064 EXPECT_CALL(*mock_map_builder_context_, local_trajectory_uploader()) 00065 .WillRepeatedly(Return(mock_local_trajectory_uploader_.get())); 00066 } 00067 00068 protected: 00069 std::unique_ptr< 00070 async_grpc::testing::RpcHandlerTestServer<HandlerConcept, HandlerType>> 00071 test_server_; 00072 MockMapBuilderContext *mock_map_builder_context_; 00073 std::unique_ptr<MockLocalTrajectoryUploader> mock_local_trajectory_uploader_; 00074 std::unique_ptr<mapping::testing::MockMapBuilder> mock_map_builder_; 00075 std::unique_ptr<mapping::testing::MockPoseGraph> mock_pose_graph_; 00076 }; 00077 00078 } // namespace testing 00079 } // namespace cloud 00080 } // namespace cartographer 00081 00082 #endif // CARTOGRAPHER_CLOUD_INTERNAL_TESTING_HANDLER_TEST_H