-
Notifications
You must be signed in to change notification settings - Fork 111
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Browse files
Browse the repository at this point in the history
- Loading branch information
1 parent
2389c9e
commit ddf6889
Showing
4 changed files
with
274 additions
and
10 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,153 @@ | ||
| package builtin_test | ||
|
|
||
| import ( | ||
| "context" | ||
| "io" | ||
| "io/ioutil" | ||
| "os" | ||
| "os/exec" | ||
| "strings" | ||
| "testing" | ||
|
|
||
| "github.com/edaniels/golog" | ||
| "go.viam.com/rdk/services/slam" | ||
| "go.viam.com/rdk/services/slam/builtin" | ||
| "go.viam.com/rdk/services/slam/internal" | ||
| "go.viam.com/test" | ||
| "go.viam.com/utils" | ||
| "go.viam.com/utils/artifact" | ||
| ) | ||
|
|
||
| // Creates the lua files required by the cartographer binary. | ||
| func createLuaFiles(name string) error { | ||
| if err := os.Mkdir(name+"/config/lua_files", os.ModePerm); err != nil { | ||
| return err | ||
| } | ||
| for _, luaFile := range []string{"locating_in_map.lua", "mapping_new_map.lua", "updating_a_map.lua"} { | ||
| source, err := os.Open(artifact.MustPath("slam/" + luaFile)) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| defer source.Close() | ||
| destination, err := os.Create(name + "/config/lua_files/" + luaFile) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| defer destination.Close() | ||
| _, err = io.Copy(destination, source) | ||
| if err != nil { | ||
| return err | ||
| } | ||
| } | ||
| return nil | ||
| } | ||
|
|
||
| // Checks the cartographer position and map. | ||
| func testCartographerPositionAndMap(t *testing.T, svc slam.Service) { | ||
| t.Helper() | ||
|
|
||
| actualMIME, _, pointcloud, err := svc.GetMap(context.Background(), "test", "pointcloud/pcd", nil, false) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| test.That(t, actualMIME, test.ShouldResemble, "pointcloud/pcd") | ||
| test.That(t, pointcloud.Size(), test.ShouldEqual, 200) | ||
|
|
||
| // TODO DATA-701 test GetPosition | ||
| } | ||
|
|
||
| func TestCartographerIntegration(t *testing.T) { | ||
| _, err := exec.LookPath("carto_grpc_server") | ||
| if err != nil { | ||
| t.Log("Skipping test because carto_grpc_server binary was not found") | ||
| t.Skip() | ||
| } | ||
|
|
||
| name, err := createTempFolderArchitecture() | ||
| test.That(t, err, test.ShouldBeNil) | ||
| createLuaFiles(name) | ||
|
|
||
| t.Log("Testing online mode") | ||
|
|
||
| attrCfg := &builtin.AttrConfig{ | ||
| Algorithm: "cartographer", | ||
| Sensors: []string{"cartographer_int_lidar"}, | ||
| ConfigParams: map[string]string{ | ||
| "mode": "2d", | ||
| "v": "1", | ||
| }, | ||
| DataDirectory: name, | ||
| } | ||
|
|
||
| // Release point cloud for service validation | ||
| cartographerIntLidarReleasePointCloudChan <- 1 | ||
| // Create slam service using a real cartographer binary | ||
| svc, err := createSLAMService(t, attrCfg, golog.NewTestLogger(t), true, true) | ||
| test.That(t, err, test.ShouldBeNil) | ||
|
|
||
| // Release point cloud, since cartographer looks for the second most recent point cloud | ||
| cartographerIntLidarReleasePointCloudChan <- 1 | ||
| // Wait for cartographer to finish processing data | ||
| logReader := svc.(internal.Service).GetSLAMProcessBufferedLogReader() | ||
| for i := 0; i < numCartographerPointClouds-2; i++ { | ||
| t.Logf("Find log line for point cloud %v", i) | ||
| cartographerIntLidarReleasePointCloudChan <- 1 | ||
| for { | ||
| line, err := logReader.ReadString('\n') | ||
| test.That(t, err, test.ShouldBeNil) | ||
| if strings.Contains(line, "Passed sensor data to SLAM") { | ||
| break | ||
| } | ||
| } | ||
| } | ||
|
|
||
| testCartographerPositionAndMap(t, svc) | ||
|
|
||
| // Close out slam service | ||
| test.That(t, utils.TryClose(context.Background(), svc), test.ShouldBeNil) | ||
| // Don't clear out the directory, since we will re-use the data for the next run | ||
| closeOutSLAMService(t, "") | ||
|
|
||
| // Delete the last .pcd file in the data directory, so that offline mode runs on the | ||
| // same data as online mode. (Online mode will not read the last .pcd file, since it | ||
| // always processes the second-most-recent .pcd file, in case the most-recent .pcd | ||
| // file is currently being written.) | ||
| files, err := ioutil.ReadDir(name + "/data/") | ||
| test.That(t, err, test.ShouldBeNil) | ||
| lastFileName := files[len(files)-1].Name() | ||
| test.That(t, os.Remove(name+"/data/"+lastFileName), test.ShouldBeNil) | ||
|
|
||
| // Test offline mode using the data generated in the online test | ||
| t.Log("Testing offline mode") | ||
|
|
||
| attrCfg = &builtin.AttrConfig{ | ||
| Algorithm: "cartographer", | ||
| Sensors: []string{}, | ||
| ConfigParams: map[string]string{ | ||
| "mode": "2d", | ||
| "v": "1", | ||
| }, | ||
| DataDirectory: name, | ||
| } | ||
|
|
||
| // Create slam service using a real cartographer binary | ||
| svc, err = createSLAMService(t, attrCfg, golog.NewTestLogger(t), true, true) | ||
| test.That(t, err, test.ShouldBeNil) | ||
|
|
||
| // Wait for cartographer to finish processing data | ||
| logReader = svc.(internal.Service).GetSLAMProcessBufferedLogReader() | ||
| for { | ||
| line, err := logReader.ReadString('\n') | ||
| test.That(t, err, test.ShouldBeNil) | ||
| if strings.Contains(line, "Finished processing offline data") { | ||
| break | ||
| } | ||
| } | ||
|
|
||
| testCartographerPositionAndMap(t, svc) | ||
|
|
||
| // Close out slam service | ||
| test.That(t, utils.TryClose(context.Background(), svc), test.ShouldBeNil) | ||
| // Clear out directory | ||
| closeOutSLAMService(t, name) | ||
|
|
||
| // TODO DATA-701 test localization and a priori map loading | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters