58 lines
2.2 KiB
C++
Executable File
58 lines
2.2 KiB
C++
Executable File
/*
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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/cloud/internal/local_trajectory_uploader.h"
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#include "glog/logging.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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using SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId;
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namespace cartographer {
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namespace cloud {
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namespace {
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constexpr char kClientId[] = "CLIENT_ID";
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const SensorId kImuSensorId{SensorId::SensorType::IMU, "imu"};
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const SensorId kRangeSensorId{SensorId::SensorType::RANGE, "range"};
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const int kLocalTrajectoryId = 3;
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TEST(LocalTrajectoryUploaderTest, HandlesInvalidUplink) {
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auto uploader = CreateLocalTrajectoryUploader("invalid-uplink-address:50051",
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/*batch_size=*/1, false, false);
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uploader->Start();
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mapping::proto::TrajectoryBuilderOptions options;
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auto status = uploader->AddTrajectory(
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kClientId, kLocalTrajectoryId, {kRangeSensorId, kImuSensorId}, options);
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EXPECT_FALSE(status.ok());
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auto sensor_data = absl::make_unique<proto::SensorData>();
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sensor_data->mutable_sensor_metadata()->set_client_id(kClientId);
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sensor_data->mutable_sensor_metadata()->set_sensor_id(kImuSensorId.id);
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sensor_data->mutable_sensor_metadata()->set_trajectory_id(kLocalTrajectoryId);
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sensor_data->mutable_imu_data()->set_timestamp(1);
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uploader->EnqueueSensorData(std::move(sensor_data));
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auto sensor_id = uploader->GetLocalSlamResultSensorId(kLocalTrajectoryId);
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EXPECT_THAT(sensor_id.id, ::testing::Not(::testing::IsEmpty()));
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status = uploader->FinishTrajectory(kClientId, kLocalTrajectoryId);
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EXPECT_FALSE(status.ok());
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uploader->Shutdown();
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}
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} // namespace
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} // namespace cloud
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} // namespace cartographer
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