planning: added end to end comparision in integration tests.

modules/control/integration_tests/control_test_base.cc

@@ -116,7 +116,10 @@ bool ControlTestBase::test_control() {
 }
 
 void ControlTestBase::trim_control_command(ControlCommand *origin) {
+  origin->mutable_header()->clear_radar_timestamp();
+  origin->mutable_header()->clear_lidar_timestamp();
   origin->mutable_header()->clear_timestamp_sec();
+  origin->mutable_header()->clear_camera_timestamp();
 }
 
 bool ControlTestBase::test_control(const std::string &test_case_name,

modules/control/integration_tests/simple_control_test.cc

@@ -37,7 +37,6 @@ class SimpleControlTest : public ControlTestBase {
  public:
   virtual void SetUp() {
     FLAGS_test_data_dir = "modules/control/testdata/simple_control_test/";
-    ControlTestBase::SetUp();
   }
 };
 
@@ -47,6 +46,7 @@ TEST_F(SimpleControlTest, simple_test) {
   FLAGS_test_pad_file = "1_pad.pb.txt";
   FLAGS_test_planning_file = "1_planning.pb.txt";
   FLAGS_test_chassis_file = "1_chassis.pb.txt";
+  ControlTestBase::SetUp();
   RUN_GOLDEN_TEST;
 }
 
@@ -55,6 +55,7 @@ TEST_F(SimpleControlTest, state_exact_match) {
   FLAGS_test_pad_file = "1_pad.pb.txt";
   FLAGS_test_planning_file = "1_planning.pb.txt";
   FLAGS_test_chassis_file = "1_chassis.pb.txt";
+  ControlTestBase::SetUp();
   RUN_GOLDEN_TEST;
 }
 
@@ -63,6 +64,7 @@ TEST_F(SimpleControlTest, pad_reset) {
   FLAGS_test_pad_file = "2_pad.pb.txt";
   FLAGS_test_planning_file = "1_planning.pb.txt";
   FLAGS_test_chassis_file = "1_chassis.pb.txt";
+  ControlTestBase::SetUp();
   RUN_GOLDEN_TEST;
 }
 
@@ -72,6 +74,7 @@ TEST_F(SimpleControlTest, monitor_fatal) {
   FLAGS_test_planning_file = "1_planning.pb.txt";
   FLAGS_test_chassis_file = "1_chassis.pb.txt";
   FLAGS_test_monitor_file = "1_monitor.pb.txt";
+  ControlTestBase::SetUp();
   RUN_GOLDEN_TEST;
 }
 

modules/planning/integration_tests/garage_test.cc

@@ -41,6 +41,7 @@ class GarageTest : public PlanningTestBase {
  public:
   virtual void SetUp() {
     FLAGS_map_file_path = "modules/planning/testdata/base_map.txt";
+    FLAGS_test_data_dir = "modules/planning/testdata/garage_test/";
   }
 };
 
@@ -54,10 +55,8 @@ TEST_F(GarageTest, Stop) {
   FLAGS_test_chassis_file =
       "modules/planning/testdata/garage_test/"
       "stop_obstacle_chassis.pb.txt";
-  // EXPECT_DEATH(PlanningTestBase::SetUp(), ".*SetUpAdapters.*");
   PlanningTestBase::SetUp();
-  RunPlanning();
-  ASSERT_TRUE(adc_trajectory_ != nullptr);
+  RUN_GOLDEN_TEST;
 }
 
 }  // namespace planning

modules/planning/integration_tests/planning_test_base.cc

@@ -24,6 +24,9 @@ namespace planning {
 
 using common::adapter::AdapterManager;
 
+DEFINE_string(test_data_dir, "", "the test data folder");
+DEFINE_bool(test_update_golden_log, false,
+            "true to update decision golden log file.");
 DEFINE_string(test_routing_response_file,
               "modules/planning/testdata/garage_routing.pb.txt",
               "The routing file used in test");
@@ -45,7 +48,8 @@ void PlanningTestBase::SetUpTestCase() {
   FLAGS_test_localization_file =
       "modules/planning/testdata/garage_localization.pb.txt";
   FLAGS_test_chassis_file = "modules/planning/testdata/garage_chassis.pb.txt",
-  FLAGS_test_prediction_file = "modules/planning/testdata/garage_prediction.pb.txt",
+  FLAGS_test_prediction_file =
+      "modules/planning/testdata/garage_prediction.pb.txt",
   FLAGS_v = 4;
 }
 
@@ -91,9 +95,55 @@ void PlanningTestBase::SetUp() {
   planning_.Init();
 }
 
-void PlanningTestBase::RunPlanning() {
+void PlanningTestBase::TrimPlanning(ADCTrajectory* origin) {
+  origin->mutable_latency_stats()->Clear();
+  origin->mutable_header()->clear_radar_timestamp();
+  origin->mutable_header()->clear_lidar_timestamp();
+  origin->mutable_header()->clear_timestamp_sec();
+  origin->mutable_header()->clear_camera_timestamp();
+}
+
+bool PlanningTestBase::RunPlanning(const std::string& test_case_name,
+                                   int case_num) {
+  const std::string golden_result_file = apollo::common::util::StrCat(
+      "result_", test_case_name, "_", case_num, ".pb.txt");
+  std::string tmp_golden_path = "/tmp/" + golden_result_file;
+  std::string full_golden_path = FLAGS_test_data_dir + "/" + golden_result_file;
   planning_.RunOnce();
   adc_trajectory_ = AdapterManager::GetPlanning()->GetLatestPublished();
+  if (!adc_trajectory_) {
+    AERROR << " did not get latest adc trajectory";
+    return false;
+  }
+  TrimPlanning(adc_trajectory_);
+  if (FLAGS_test_update_golden_log) {
+    AINFO << "The golden file is " << tmp_golden_path << " Remember to:\n"
+          << "mv " << tmp_golden_path << " " << FLAGS_test_data_dir << "\n"
+          << "git add " << FLAGS_test_data_dir << "/" << golden_result_file;
+    ::apollo::common::util::SetProtoToASCIIFile(*adc_trajectory_,
+                                                golden_result_file);
+  } else {
+    ADCTrajectory golden_result;
+    bool load_success = ::apollo::common::util::GetProtoFromASCIIFile(
+        full_golden_path, &golden_result);
+    if (!load_success) {
+      AERROR << "Failed to load golden file: " << full_golden_path;
+      ::apollo::common::util::SetProtoToASCIIFile(*adc_trajectory_,
+                                                  tmp_golden_path);
+      AINFO << "Current result is written to " << tmp_golden_path;
+      return false;
+    }
+    bool same_result =
+        ::apollo::common::util::IsProtoEqual(golden_result, *adc_trajectory_);
+    if (!same_result) {
+      std::string tmp_planning_file = tmp_golden_path + ".tmp";
+      ::apollo::common::util::SetProtoToASCIIFile(*adc_trajectory_,
+                                                  tmp_planning_file);
+      AERROR << "found diff " << tmp_planning_file << " " << full_golden_path;
+      return false;
+    }
+  }
+  return true;
 }
 
 void PlanningTestBase::export_sl_points(

modules/planning/integration_tests/planning_test_base.h

@@ -35,9 +35,18 @@ namespace planning {
 
 using common::adapter::AdapterManager;
 
+#define RUN_GOLDEN_TEST                                            \
+  {                                                                \
+    const ::testing::TestInfo* const test_info =                   \
+        ::testing::UnitTest::GetInstance()->current_test_info();   \
+    bool run_planning_success = RunPlanning(test_info->name(), 0); \
+    EXPECT_TRUE(run_planning_success);                             \
+  }
+
 DECLARE_string(test_routing_response_file);
 DECLARE_string(test_localization_file);
 DECLARE_string(test_chassis_file);
+DECLARE_string(test_data_dir);
 DECLARE_string(test_prediction_file);
 
 class PlanningTestBase : public ::testing::Test {
@@ -51,7 +60,7 @@ class PlanningTestBase : public ::testing::Test {
    * @return true if planning is success. The ADCTrajectory will be used to
    * store the planing results.  Otherwise false.
    */
-  void RunPlanning();
+  bool RunPlanning(const std::string& test_case_name, int case_num);
 
   /**
    * @brief Print out the points to a file for debug and visualization purpose.
@@ -66,7 +75,9 @@ class PlanningTestBase : public ::testing::Test {
                                const std::string& filename);
 
  protected:
+  void TrimPlanning(ADCTrajectory* origin);
   bool SetUpAdapters();
+
   Planning planning_;
   ADCTrajectory* adc_trajectory_ = nullptr;
 };

modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc

@@ -66,14 +66,7 @@ class DpRoadGraphTest : public PlanningTestBase {
   }
 
   virtual void SetUp() {
-    google::InitGoogleLogging("DpRoadGraphTest");
-    PlanningTestBase::SetUp();
-    RunPlanning();
-    SetInitPoint();
-    SetSpeedDataWithConstVeolocity(10.0);
-    const auto* frame = planning_.GetFrame();
-    ASSERT_TRUE(frame != nullptr);
-    reference_line_ = &(frame->reference_line());
+    FLAGS_test_data_dir = "modules/planning/testdata/dp_road_graph_test";
   }
 
  protected:
@@ -84,6 +77,16 @@ class DpRoadGraphTest : public PlanningTestBase {
 };
 
 TEST_F(DpRoadGraphTest, speed_road_graph) {
+  PlanningTestBase::SetUp();
+
+  RUN_GOLDEN_TEST;
+
+  // specialized tests
+  SetInitPoint();
+  SetSpeedDataWithConstVeolocity(10.0);
+  const auto* frame = planning_.GetFrame();
+  ASSERT_TRUE(frame != nullptr);
+  reference_line_ = &(frame->reference_line());
   DpPolyPathConfig dp_poly_path_config;  // default values
   DPRoadGraph road_graph(dp_poly_path_config, *reference_line_, speed_data_);
   ASSERT_TRUE(reference_line_ != nullptr);

modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc

@@ -58,12 +58,7 @@ class DpStSpeedTest : public PlanningTestBase {
   }
 
   virtual void SetUp() {
-    google::InitGoogleLogging("DpStSpeedTest");
-    PlanningTestBase::SetUp();
-    RunPlanning();
-    const auto* frame = planning_.GetFrame();
-    reference_line_ = &(frame->reference_line());
-    SetPathDataWithStraightLine();
+    FLAGS_test_data_dir = "modules/planning/testdata/dp_st_speed_test";
   }
 
  protected:
@@ -74,6 +69,9 @@ class DpStSpeedTest : public PlanningTestBase {
 };
 
 TEST_F(DpStSpeedTest, dp_st_graph_test) {
+  PlanningTestBase::SetUp();
+  RUN_GOLDEN_TEST;
+
   DpStSpeedConfig dp_st_speed_config;
   const auto& veh_param =
       common::VehicleConfigHelper::GetConfig().vehicle_param();