control_test_base.h

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/******************************************************************************
 * Copyright 2017 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.
 *****************************************************************************/
 
#pragma once
 
#include <string>
 
#include "gtest/gtest.h"
 
#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
 
#include "modules/control/control_component/common/control_gflags.h"
#include "modules/control/control_component/control_component.h"
 
#define RUN_GOLDEN_TEST                                            \
  {                                                                \
    const ::testing::TestInfo *const test_info =                   \
        ::testing::UnitTest::GetInstance()->current_test_info();   \
    bool run_control_success = test_control(test_info->name(), 0); \
    EXPECT_TRUE(run_control_success);                              \
  }
 
DECLARE_string(test_localization_file);
DECLARE_string(test_pad_file);
DECLARE_string(test_planning_file);
DECLARE_string(test_chassis_file);
DECLARE_string(test_data_dir);
DECLARE_string(test_monitor_file);
 
namespace apollo {
namespace control {
 
class ControlTestBase : public ::testing::Test {
 public:
  static void SetUpTestCase();
 
  virtual void SetUp();
 
  bool test_control();
  bool test_control(const std::string &test_case_name, int case_num);
  void LoadControllerPlugin();
 
 private:
  void trim_control_command(apollo::control::ControlCommand *origin);
  ControlCommand control_command_;
  ControlComponent control_;
  static uint32_t s_seq_num_;
};
 
}  // namespace control
}  // namespace apollo