cartographer: add_fixed_frame_pose_data_handler

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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 #include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h"
00018 
00019 #include "cartographer/cloud/internal/testing/handler_test.h"
00020 #include "cartographer/cloud/internal/testing/test_helpers.h"
00021 #include "google/protobuf/text_format.h"
00022 #include "gtest/gtest.h"
00023 
00024 namespace cartographer {
00025 namespace cloud {
00026 namespace handlers {
00027 namespace {
00028 
00029 using ::testing::_;
00030 using ::testing::Eq;
00031 using ::testing::Pointee;
00032 using ::testing::Truly;
00033 
00034 const std::string kMessage = R"(
00035   sensor_metadata {
00036     trajectory_id: 1
00037     sensor_id: "sensor_id"
00038   }
00039   fixed_frame_pose_data {
00040     timestamp: 2
00041     pose {
00042       translation {
00043         x: 3 y: 4 z: 5
00044       }
00045       rotation {
00046         w: 6 x: 7 y: 8 z: 9
00047       }
00048     }
00049   })";
00050 
00051 using AddFixedFramePoseDataHandlerTest =
00052     testing::HandlerTest<AddFixedFramePoseDataSignature,
00053                          AddFixedFramePoseDataHandler>;
00054 
00055 TEST_F(AddFixedFramePoseDataHandlerTest, NoLocalSlamUploader) {
00056   proto::AddFixedFramePoseDataRequest request;
00057   EXPECT_TRUE(
00058       google::protobuf::TextFormat::ParseFromString(kMessage, &request));
00059   SetNoLocalTrajectoryUploader();
00060   EXPECT_CALL(
00061       *mock_map_builder_context_,
00062       CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
00063                                  Eq(request.sensor_metadata().trajectory_id())))
00064       .WillOnce(::testing::Return(true));
00065   EXPECT_CALL(*mock_map_builder_context_,
00066               DoEnqueueSensorData(
00067                   Eq(request.sensor_metadata().trajectory_id()),
00068                   Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
00069   test_server_->SendWrite(request);
00070   test_server_->SendWritesDone();
00071   test_server_->SendFinish();
00072 }
00073 
00074 TEST_F(AddFixedFramePoseDataHandlerTest, WithMockLocalSlamUploader) {
00075   proto::AddFixedFramePoseDataRequest request;
00076   EXPECT_TRUE(
00077       google::protobuf::TextFormat::ParseFromString(kMessage, &request));
00078   SetMockLocalTrajectoryUploader();
00079   EXPECT_CALL(
00080       *mock_map_builder_context_,
00081       CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
00082                                  Eq(request.sensor_metadata().trajectory_id())))
00083       .WillOnce(::testing::Return(true));
00084   EXPECT_CALL(*mock_map_builder_context_,
00085               DoEnqueueSensorData(
00086                   Eq(request.sensor_metadata().trajectory_id()),
00087                   Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
00088   proto::SensorData sensor_data;
00089   *sensor_data.mutable_sensor_metadata() = request.sensor_metadata();
00090   *sensor_data.mutable_fixed_frame_pose_data() =
00091       request.fixed_frame_pose_data();
00092   EXPECT_CALL(*mock_local_trajectory_uploader_,
00093               DoEnqueueSensorData(Pointee(
00094                   Truly(testing::BuildProtoPredicateEquals(&sensor_data)))));
00095   test_server_->SendWrite(request);
00096   test_server_->SendWritesDone();
00097   test_server_->SendFinish();
00098 }
00099 
00100 }  // namespace
00101 }  // namespace handlers
00102 }  // namespace cloud
00103 }  // namespace cartographer