cartographer: add_imu_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_imu_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   imu_data {
00040     timestamp: 2
00041     linear_acceleration {
00042       x: 3 y: 4 z: 5
00043     }
00044     angular_velocity {
00045       x: 6 y: 7 z: 8
00046     }
00047   })";
00048 
00049 using AddImuDataHandlerTest =
00050     testing::HandlerTest<AddImuDataSignature, AddImuDataHandler>;
00051 
00052 TEST_F(AddImuDataHandlerTest, NoLocalSlamUploader) {
00053   proto::AddImuDataRequest request;
00054   EXPECT_TRUE(
00055       google::protobuf::TextFormat::ParseFromString(kMessage, &request));
00056   SetNoLocalTrajectoryUploader();
00057   EXPECT_CALL(
00058       *mock_map_builder_context_,
00059       CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
00060                                  Eq(request.sensor_metadata().trajectory_id())))
00061       .WillOnce(::testing::Return(true));
00062   EXPECT_CALL(*mock_map_builder_context_,
00063               DoEnqueueSensorData(
00064                   Eq(request.sensor_metadata().trajectory_id()),
00065                   Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
00066   test_server_->SendWrite(request);
00067   test_server_->SendWritesDone();
00068   test_server_->SendFinish();
00069 }
00070 
00071 TEST_F(AddImuDataHandlerTest, WithMockLocalSlamUploader) {
00072   proto::AddImuDataRequest request;
00073   EXPECT_TRUE(
00074       google::protobuf::TextFormat::ParseFromString(kMessage, &request));
00075   SetMockLocalTrajectoryUploader();
00076   EXPECT_CALL(
00077       *mock_map_builder_context_,
00078       CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
00079                                  Eq(request.sensor_metadata().trajectory_id())))
00080       .WillOnce(::testing::Return(true));
00081   EXPECT_CALL(*mock_map_builder_context_,
00082               DoEnqueueSensorData(
00083                   Eq(request.sensor_metadata().trajectory_id()),
00084                   Pointee(Truly(testing::BuildDataPredicateEquals(request)))));
00085   proto::SensorData sensor_data;
00086   *sensor_data.mutable_sensor_metadata() = request.sensor_metadata();
00087   *sensor_data.mutable_imu_data() = request.imu_data();
00088   EXPECT_CALL(*mock_local_trajectory_uploader_,
00089               DoEnqueueSensorData(Pointee(
00090                   Truly(testing::BuildProtoPredicateEquals(&sensor_data)))));
00091   test_server_->SendWrite(request);
00092   test_server_->SendWritesDone();
00093   test_server_->SendFinish();
00094 }
00095 
00096 }  // namespace
00097 }  // namespace handlers
00098 }  // namespace cloud
00099 }  // namespace cartographer