From a946e8243b5c0626ecc91655d3091db7ee4d48b1 Mon Sep 17 00:00:00 2001 From: Dong Li Date: Tue, 15 Aug 2017 19:30:25 -0700 Subject: [PATCH] planning: added end to end comparision in integration tests. --- .../integration_tests/control_test_base.cc | 3 + .../integration_tests/simple_control_test.cc | 5 +- .../planning/integration_tests/garage_test.cc | 5 +- .../integration_tests/planning_test_base.cc | 54 +- .../integration_tests/planning_test_base.h | 13 +- .../dp_poly_path/dp_road_graph_test.cc | 19 +- .../optimizer/dp_st_speed/dp_st_graph_test.cc | 10 +- .../result_speed_road_graph_0.pb.txt | 18697 +++++++++++++++ .../result_dp_st_graph_test_0.pb.txt | 18697 +++++++++++++++ .../testdata/garage_test/result_Stop_0.pb.txt | 18737 ++++++++++++++++ 10 files changed, 56219 insertions(+), 21 deletions(-) create mode 100755 modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt create mode 100755 modules/planning/testdata/dp_st_speed_test/result_dp_st_graph_test_0.pb.txt create mode 100755 modules/planning/testdata/garage_test/result_Stop_0.pb.txt diff --git a/modules/control/integration_tests/control_test_base.cc b/modules/control/integration_tests/control_test_base.cc index ff790ea640..41f32d0849 100644 --- a/modules/control/integration_tests/control_test_base.cc +++ b/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, diff --git a/modules/control/integration_tests/simple_control_test.cc b/modules/control/integration_tests/simple_control_test.cc index f75a91042b..e85f0701c4 100644 --- a/modules/control/integration_tests/simple_control_test.cc +++ b/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; } diff --git a/modules/planning/integration_tests/garage_test.cc b/modules/planning/integration_tests/garage_test.cc index b93bcff06c..cc7450799d 100644 --- a/modules/planning/integration_tests/garage_test.cc +++ b/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 diff --git a/modules/planning/integration_tests/planning_test_base.cc b/modules/planning/integration_tests/planning_test_base.cc index 2d10bb206a..7378043488 100644 --- a/modules/planning/integration_tests/planning_test_base.cc +++ b/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( diff --git a/modules/planning/integration_tests/planning_test_base.h b/modules/planning/integration_tests/planning_test_base.h index f756dad2f3..5037b152a1 100644 --- a/modules/planning/integration_tests/planning_test_base.h +++ b/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; }; diff --git a/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc b/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc index 329728a72a..221052a79f 100644 --- a/modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc +++ b/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); diff --git a/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc b/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc index 722ed2e6cd..2f5b420706 100644 --- a/modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc +++ b/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(); diff --git a/modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt b/modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt new file mode 100755 index 0000000000..d7bf3c1d3e --- /dev/null +++ b/modules/planning/testdata/dp_road_graph_test/result_speed_road_graph_0.pb.txt @@ -0,0 +1,18697 @@ +header { + module_name: "planning" + sequence_num: 1 +} +debug { + planning_data { + path { + name: "DP_POLY_PATH_OPTIMIZER" + path_point { + x: 586387.20319086907 + y: 4140676.2127282782 + z: 0 + theta: 2.8931489108855573 + kappa: -9.7502011045790316e-05 + s: 0 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586387.10625236155 + y: 4140676.2372828461 + z: 0 + theta: 2.8942276882958193 + kappa: 0.021399534350691061 + s: 0.10000000521436492 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586387.00943885488 + y: 4140676.2615868589 + z: 0 + theta: 2.8973731297665477 + kappa: 0.041266680295558765 + s: 0.19981753930646945 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.91234694608 + y: 4140676.2855369044 + z: 0 + theta: 2.9024254570806018 + kappa: 0.059540484971531547 + s: 0.29981975644185438 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.81510904152 + y: 4140676.3089115974 + z: 0 + theta: 2.9092259933370084 + kappa: 0.076252388865115261 + s: 0.3998276879044334 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.71768408711 + y: 4140676.3315491471 + z: 0 + theta: 2.9176205134339632 + kappa: 0.0914280830804243 + s: 0.49984808783337847 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.62021095562 + y: 4140676.3532563183 + z: 0 + theta: 2.9274588682827849 + kappa: 0.10508827102257916 + s: 0.59970905438456257 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.52230271092 + y: 4140676.3739908305 + z: 0 + theta: 2.9385910963702715 + kappa: 0.11725057772063073 + s: 0.69978874452486006 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.42410578742 + y: 4140676.393588149 + z: 0 + theta: 2.95087155910905 + kappa: 0.12793118326023845 + s: 0.799922108978542 + dkappa: 0 + ddkappa: 0 + } + path_point { + x: 586386.32559300051 + y: 4140676.4119411851 + z: 0 + theta: 2.9641574876934307 + kappa: 0.13714715923383772 + s: 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