Add initial test_utils in routing/graph

modules/routing/graph/BUILD

@@ -44,4 +44,21 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "routing_graph_test_utils",
+    srcs = [
+        "test_utils.cc",
+    ],
+    hdrs = [
+        "test_utils.h",
+    ],
+    deps = [
+        "@gtest//:main",
+        ":routing_topo_node",
+        ":routing_topo_graph",
+        "//modules/map/proto:map_proto",
+    ],
+)
+
+
 cpplint()

modules/routing/graph/test_utils.cc

+/******************************************************************************
+  * 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.
+  *****************************************************************************/
+
+#include "modules/routing/graph/test_utils.h"
+
+namespace apollo {
+namespace routing {
+
+namespace {
+
+using ::apollo::routing::Graph;
+using ::apollo::routing::Node;
+using ::apollo::routing::Edge;
+using ::apollo::hdmap::Curve;
+
+void AddCurve(Curve* curve) {
+  auto* curve_segment = curve->add_segment();
+  curve_segment->set_s(TEST_START_S);
+  curve_segment->mutable_start_position()->set_x(0.0);
+  curve_segment->mutable_start_position()->set_y(0.0);
+  curve_segment->set_heading(0.0);
+  curve_segment->set_length(TEST_LANE_LENGTH);
+  auto* lane_segment = curve_segment->mutable_line_segment();
+  auto* point1 = lane_segment->add_point();
+  point1->set_x(TEST_START_S);
+  point1->set_y(0.0);
+  auto* point21 = lane_segment->add_point();
+  point21->set_x(TEST_MIDDLE_S / 2);
+  point21->set_y(0.0);
+  auto* point2 = lane_segment->add_point();
+  point2->set_x(TEST_MIDDLE_S);
+  point2->set_y(0.0);
+  auto* point22 = lane_segment->add_point();
+  point22->set_x(TEST_MIDDLE_S + TEST_MIDDLE_S / 2);
+  point22->set_y(0.0);
+  auto* point3 = lane_segment->add_point();
+  point3->set_x(TEST_END_S);
+  point3->set_y(0.0);
+}
+
+}  // namespace
+
+void GetNodeDetailForTest(Node* const node, const std::string& lane_id,
+                              const std::string& road_id) {
+  node->set_lane_id(lane_id);
+  node->set_length(TEST_LANE_LENGTH);
+  node->set_road_id(road_id);
+  node->set_cost(TEST_LANE_COST);
+  AddCurve(node->mutable_central_curve());
+  auto* left_out = node->add_left_out();
+  left_out->mutable_start()->set_s(TEST_START_S);
+  left_out->mutable_end()->set_s(TEST_END_S);
+  auto* right_out = node->add_right_out();
+  right_out->mutable_start()->set_s(TEST_START_S);
+  right_out->mutable_end()->set_s(TEST_END_S);
+}
+
+void GetNodeForTest(Node* const node, const std::string& lane_id,
+                       const std::string& road_id) {
+  node->set_lane_id(lane_id);
+  node->set_length(TEST_LANE_LENGTH);
+  node->set_road_id(road_id);
+  node->set_cost(TEST_LANE_COST);
+  auto* left_out = node->add_left_out();
+  left_out->mutable_start()->set_s(TEST_START_S);
+  left_out->mutable_end()->set_s(TEST_END_S);
+  auto* right_out = node->add_right_out();
+  right_out->mutable_start()->set_s(TEST_START_S);
+  right_out->mutable_end()->set_s(TEST_END_S);
+}
+
+void GetEdgeForTest(Edge* const edge, const std::string& lane_id_1,
+                       const std::string& lane_id_2,
+                       const Edge::DirectionType& type) {
+  edge->set_from_lane_id(lane_id_1);
+  edge->set_to_lane_id(lane_id_2);
+  edge->set_cost(TEST_EDGE_COST);
+  edge->set_direction_type(type);
+}
+
+void GetGraphForTest(Graph* graph) {
+  graph->set_hdmap_version(TEST_MAP_VERSION);
+  graph->set_hdmap_district(TEST_MAP_DISTRICT);
+  GetNodeForTest(graph->add_node(), TEST_L1, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L2, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L3, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L4, TEST_R2);
+
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L2, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L1, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L3, TEST_L4, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L4, TEST_L3, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L3, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L4, Edge::FORWARD);
+}
+
+void GetGraph2ForTest(Graph* graph) {
+  graph->set_hdmap_version(TEST_MAP_VERSION);
+  graph->set_hdmap_district(TEST_MAP_DISTRICT);
+  GetNodeForTest(graph->add_node(), TEST_L1, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L2, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L3, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L4, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L5, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L6, TEST_R3);
+
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L2, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L1, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L3, TEST_L4, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L4, TEST_L3, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L4, TEST_L5, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L5, TEST_L4, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L3, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L4, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L5, TEST_L6, Edge::FORWARD);
+}
+
+void GetGraph3ForTest(Graph* graph) {
+  graph->set_hdmap_version(TEST_MAP_VERSION);
+  graph->set_hdmap_district(TEST_MAP_DISTRICT);
+  GetNodeForTest(graph->add_node(), TEST_L1, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L2, TEST_R1);
+  GetNodeForTest(graph->add_node(), TEST_L3, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L4, TEST_R2);
+  GetNodeForTest(graph->add_node(), TEST_L5, TEST_R3);
+  GetNodeForTest(graph->add_node(), TEST_L6, TEST_R3);
+
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L2, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L1, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L3, TEST_L4, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L4, TEST_L3, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L5, TEST_L6, Edge::RIGHT);
+  GetEdgeForTest(graph->add_edge(), TEST_L6, TEST_L5, Edge::LEFT);
+  GetEdgeForTest(graph->add_edge(), TEST_L1, TEST_L3, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L3, TEST_L5, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L2, TEST_L4, Edge::FORWARD);
+  GetEdgeForTest(graph->add_edge(), TEST_L4, TEST_L6, Edge::FORWARD);
+}
+
+}  // namespace routing
+}  // namespace apollo

modules/routing/graph/test_utils.h

+/******************************************************************************
+  * 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.
+  *****************************************************************************/
+
+#ifndef MODULES_ROUTING_GRAPH_TEST_UTILS_H_
+#define MODULES_ROUTING_GRAPH_TEST_UTILS_H_
+
+#include <string>
+
+#include "modules/routing/common/utils.h"
+#include "modules/routing/graph/topo_graph.h"
+#include "modules/routing/graph/topo_node.h"
+
+#include "gtest/gtest.h"
+#include "modules/routing/proto/topo_graph.pb.h"
+
+namespace apollo {
+namespace routing {
+
+const std::string TEST_MAP_VERSION = "1.0.1";
+const std::string TEST_MAP_DISTRICT = "";
+
+const std::string TEST_L1 = "L1";
+const std::string TEST_L2 = "L2";
+const std::string TEST_L3 = "L3";
+const std::string TEST_L4 = "L4";
+const std::string TEST_L5 = "L5";
+const std::string TEST_L6 = "L6";
+
+const std::string TEST_R1 = "R1";
+const std::string TEST_R2 = "R2";
+const std::string TEST_R3 = "R3";
+
+const double TEST_LANE_LENGTH = 100.0;
+const double TEST_LANE_COST = 1.1;
+const double TEST_EDGE_COST = 2.2;
+
+const double TEST_START_S = 0.0;
+const double TEST_MIDDLE_S = 0.0;
+const double TEST_END_S = TEST_LANE_LENGTH;
+
+void GetNodeDetailForTest(::apollo::routing::Node* const node,
+                              const std::string& lane_id,
+                              const std::string& road_id);
+
+void GetNodeForTest(::apollo::routing::Node* const node,
+                       const std::string& lane_id, const std::string& road_id);
+
+void GetEdgeForTest(::apollo::routing::Edge* const edge,
+                       const std::string& lane_id_1,
+                       const std::string& lane_id_2,
+                       const ::apollo::routing::Edge::DirectionType& type);
+
+void GetGraphForTest(::apollo::routing::Graph* graph);
+
+void GetGraph2ForTest(::apollo::routing::Graph* graph);
+
+void GetGraph3ForTest(::apollo::routing::Graph* graph);
+
+}  // namespace routing
+}  // namespace apollo
+
+#endif  // MODULES_ROUTING_GRAPH_TEST_UTILS_H_