RelativeMap: added test cases for the class NavigationLane.

modules/map/relative_map/BUILD

@@ -64,4 +64,28 @@ cc_binary(
     ],
 )
 
+filegroup(
+    name = "testdata",
+    srcs = glob([
+        "testdata/**",
+    ]),
+)
+
+cc_test(
+    name = "navigation_lane_test",
+    size = "small",
+    srcs = [
+        "navigation_lane_test.cc",
+    ], 
+    data = [
+        ":testdata",
+    ],   
+    deps = [
+        ":relative_map_lib",
+        "//modules/common",        
+        "//third_party/json",
+        "@gtest//:main",
+    ],
+)
+
 cpplint()

modules/map/relative_map/navigation_lane_test.cc

@@ -0,0 +1,181 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+/**
+ * @file
+ * @brief This file provides several unit tests for the class "NavigationLane".
+ */
+
+#include "modules/map/relative_map/navigation_lane.h"
+
+#include <string>
+#include <vector>
+#include "gtest/gtest.h"
+#include "third_party/json/json.hpp"
+
+#include "modules/canbus/proto/chassis.pb.h"
+#include "modules/common/adapters/adapter_manager.h"
+#include "modules/common/vehicle_state/vehicle_state_provider.h"
+#include "modules/map/relative_map/common/relative_map_gflags.h"
+#include "modules/map/relative_map/proto/navigation.pb.h"
+#include "modules/map/relative_map/proto/relative_map_config.pb.h"
+
+namespace apollo {
+namespace relative_map {
+
+using apollo::common::VehicleStateProvider;
+using apollo::common::adapter::AdapterConfig;
+using apollo::common::adapter::AdapterManager;
+using apollo::common::adapter::AdapterManagerConfig;
+using apollo::relative_map::NavigationInfo;
+using apollo::relative_map::NavigationLane;
+using apollo::relative_map::NavigationPath;
+using nlohmann::json;
+
+namespace {
+bool GetNavigationPathFromFile(const std::string& filename,
+                               NavigationPath* navigation_path) {
+  CHECK_NOTNULL(navigation_path);
+
+  std::ifstream ifs(filename, std::ios::in);
+  if (!ifs.is_open()) {
+    AERROR << "Failed to open " << filename;
+    return false;
+  }
+  std::string line_str;
+  while (std::getline(ifs, line_str)) {
+    try {
+      auto json_obj = json::parse(line_str);
+      auto* point = navigation_path->mutable_path()->add_path_point();
+      point->set_x(json_obj["x"]);
+      point->set_y(json_obj["y"]);
+      point->set_s(json_obj["s"]);
+      point->set_theta(json_obj["theta"]);
+      point->set_kappa(json_obj["kappa"]);
+      point->set_dkappa(json_obj["dkappa"]);
+    } catch (const std::exception& e) {
+      AERROR << "Failed to parse JSON data: " << e.what();
+      return false;
+    }
+  }
+
+  return true;
+}
+
+bool GenerateNavigationInfo(
+    const std::vector<std::string>& navigation_line_filenames,
+    NavigationInfo* navigation_info) {
+  CHECK_NOTNULL(navigation_info);
+
+  int i = 0;
+  for (const std::string& filename : navigation_line_filenames) {
+    auto* navigation_path = navigation_info->add_navigation_path();
+    if (!GetNavigationPathFromFile(filename, navigation_path)) {
+      continue;
+    }
+    navigation_path->set_path_priority(i);
+    navigation_path->mutable_path()->set_name("Navigation path " + i);
+    ++i;
+  }
+  return navigation_info->navigation_path_size() > 0;
+}
+}  // namespace
+
+class NavigationLaneTest : public testing::Test {
+ public:
+  virtual void SetUp() {
+    common::adapter::AdapterManagerConfig adapter_conf;
+    RelativeMapConfig config;
+
+    EXPECT_TRUE(common::util::GetProtoFromFile(
+        FLAGS_relative_map_adapter_config_filename, &adapter_conf));
+    EXPECT_TRUE(common::util::GetProtoFromFile(
+        FLAGS_relative_map_config_filename, &config));
+
+    navigation_lane_.SetConfig(config.navigation_lane());
+    map_param_ = config.map_param();
+    navigation_lane_.SetDefaultWidth(map_param_.default_left_width(),
+                                     map_param_.default_right_width());
+
+    data_file_dir_ = "modules/map/relative_map/testdata/multi_lane_map/";
+
+    localization::LocalizationEstimate localization;
+    canbus::Chassis chassis;
+    EXPECT_TRUE(common::util::GetProtoFromFile(
+        data_file_dir_ + "localization_info.pb.txt", &localization));
+    EXPECT_TRUE(common::util::GetProtoFromFile(
+        data_file_dir_ + "chassis_info.pb.txt", &chassis));
+    VehicleStateProvider::instance()->Update(localization, chassis);
+  }
+
+ protected:
+  NavigationLane navigation_lane_;
+  NavigationInfo navigation_info_;
+  MapGenerationParam map_param_;
+  std::vector<std::string> navigation_line_filenames_;
+  std::string data_file_dir_;
+};
+
+TEST_F(NavigationLaneTest, GenerateOneLaneMap) {
+  navigation_line_filenames_.clear();
+  navigation_info_.Clear();
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
+  EXPECT_TRUE(
+      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
+  navigation_lane_.UpdateNavigationInfo(navigation_info_);
+  EXPECT_TRUE(navigation_lane_.GeneratePath());
+  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
+
+  MapMsg map_msg;
+  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
+  EXPECT_EQ(1, map_msg.hdmap().lane_size());
+}
+
+TEST_F(NavigationLaneTest, GenerateTwoLaneMap) {
+  navigation_line_filenames_.clear();
+  navigation_info_.Clear();
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
+  EXPECT_TRUE(
+      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
+  navigation_lane_.UpdateNavigationInfo(navigation_info_);
+  EXPECT_TRUE(navigation_lane_.GeneratePath());
+  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
+
+  MapMsg map_msg;
+  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
+  EXPECT_EQ(2, map_msg.hdmap().lane_size());
+}
+
+TEST_F(NavigationLaneTest, GenerateThreeLaneMap) {
+  navigation_line_filenames_.clear();
+  navigation_info_.Clear();
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "left.smoothed");
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "middle.smoothed");
+  navigation_line_filenames_.emplace_back(data_file_dir_ + "right.smoothed");
+  EXPECT_TRUE(
+      GenerateNavigationInfo(navigation_line_filenames_, &navigation_info_));
+  navigation_lane_.UpdateNavigationInfo(navigation_info_);
+  EXPECT_TRUE(navigation_lane_.GeneratePath());
+  EXPECT_GT(navigation_lane_.Path().path().path_point_size(), 0);
+
+  MapMsg map_msg;
+  EXPECT_TRUE(navigation_lane_.CreateMap(map_param_, &map_msg));
+  EXPECT_EQ(3, map_msg.hdmap().lane_size());
+}
+
+}  // namespace relative_map
+}  // namespace apollo

modules/map/relative_map/testdata/multi_lane_map/chassis_info.pb.txt

@@ -0,0 +1,47 @@
+engine_started: true
+engine_rpm: 1739
+speed_mps: 9.1833334
+odometer_m: 0
+fuel_range_m: 0
+throttle_percentage: 24.44648
+brake_percentage: 14.708171
+steering_percentage: 0.23404256
+steering_torque_nm: -0.3125
+parking_brake: false
+driving_mode: EMERGENCY_MODE
+error_code: NO_ERROR
+gear_location: GEAR_DRIVE
+header {
+  timestamp_sec: 1527501470.8327246
+  module_name: "chassis"
+  sequence_num: 176167
+}
+signal {
+  turn_signal: TURN_NONE
+  horn: false
+}
+chassis_gps {
+  latitude: 28.175765333333331
+  longitude: 112.94745599999999
+  gps_valid: true
+  year: 18
+  month: 5
+  day: 28
+  hours: 9
+  minutes: 57
+  seconds: 50
+  compass_direction: 0
+  pdop: 1.8
+  is_gps_fault: false
+  is_inferred: false
+  altitude: 6
+  heading: 3.22
+  hdop: 0.8
+  vdop: 1.6
+  quality: FIX_3D
+  num_satellites: 18
+  gps_speed: 8.9408
+}
+engage_advice {
+  advice: READY_TO_ENGAGE
+}