added PlanningTestBase to make integration tests easier

modules/planning/integration_tests/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "planning_test_base",
+    srcs = [
+        "planning_test_base.cc",
+    ],
+    hdrs = [
+        "planning_test_base.h",
+    ],
+    data = [
+        "//modules/map:map_data",
+        "//modules/planning:planning_testdata",
+    ],
+    deps = [
+        "//modules/common:log",
+        "//modules/common/adapters:adapter_manager",
+        "//modules/common/util",
+        "//modules/common/vehicle_state",
+        "//modules/planning:planning_impl",
+        "//modules/planning/common:data_center",
+        "//modules/planning/proto:dp_poly_path_config_proto",
+        "//modules/planning/proto:dp_st_speed_config_proto",
+        "@gtest//:gtest",
+    ],
+)
+
+cpplint()

modules/planning/optimizer/optimizer_test_base.cc → modules/planning/integration_tests/planning_test_base.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/optimizer/optimizer_test_base.h"
+#include "modules/planning/integration_tests/planning_test_base.h"
 
 #include "modules/common/log.h"
 #include "modules/common/vehicle_state/vehicle_state.h"
@@ -34,7 +34,7 @@ DEFINE_string(test_chassis_file,
               "modules/planning/testdata/garage_chassis.pb.txt",
               "The chassis test file");
 
-void OptimizerTestBase::SetDataConfigs() {
+void PlanningTestBase::SetDataConfigs() {
   FLAGS_qp_spline_path_config_file =
       "modules/planning/testdata/conf/qp_spline_path_config.pb.txt";
   FLAGS_qp_spline_st_speed_config_file =
@@ -58,7 +58,7 @@ void OptimizerTestBase::SetDataConfigs() {
   FLAGS_alsologtostderr = true;
 }
 
-bool OptimizerTestBase::SetUpAdapters() {
+bool PlanningTestBase::SetUpAdapters() {
   if (!AdapterManager::Initialized()) {
     AdapterManager::Init(FLAGS_adapter_config_path);
   }
@@ -85,7 +85,7 @@ bool OptimizerTestBase::SetUpAdapters() {
   return true;
 }
 
-void OptimizerTestBase::SetUp() {
+void PlanningTestBase::SetUp() {
   SetDataConfigs();
   planning_.Init();
   if (!SetUpAdapters()) {
@@ -112,7 +112,7 @@ void OptimizerTestBase::SetUp() {
   }
 }
 
-void OptimizerTestBase::export_sl_points(
+void PlanningTestBase::export_sl_points(
     const std::vector<std::vector<common::SLPoint>>& points,
     const std::string& filename) {
   AINFO << "Write sl_points to file " << filename;
@@ -128,8 +128,8 @@ void OptimizerTestBase::export_sl_points(
   ofs.close();
 }
 
-void OptimizerTestBase::export_path_data(const PathData& path_data,
-                                         const std::string& filename) {
+void PlanningTestBase::export_path_data(const PathData& path_data,
+                                        const std::string& filename) {
   AINFO << "Write path_data to file " << filename;
   std::ofstream ofs(filename);
   ofs << "s, l, dl, ddl, x, y, z" << std::endl;

modules/planning/optimizer/optimizer_test_base.h → modules/planning/integration_tests/planning_test_base.h

@@ -39,7 +39,7 @@ DECLARE_string(test_routing_result_file);
 DECLARE_string(test_localization_file);
 DECLARE_string(test_chassis_file);
 
-class OptimizerTestBase : public ::testing::Test {
+class PlanningTestBase : public ::testing::Test {
  public:
   /**
    * @brief set common data settings, such as gflags path configurations.
@@ -49,7 +49,7 @@ class OptimizerTestBase : public ::testing::Test {
    * "new_routing.pb.txt", You can implement your own SetDataConfigs by
    * ```
    * virtual void SetDataConfigs() {
-   *   OptimizerTestBase::SetDataConfigs();
+   *   PlanningTestBase::SetDataConfigs();
    *   FLAGS_test_routing_result_file = "new_routing.pb.txt"
    * }
    * ```

modules/planning/optimizer/BUILD

@@ -56,29 +56,4 @@ cc_library(
     ],
 )
 
-cc_library(
-    name = "optimizer_test_base",
-    srcs = [
-        "optimizer_test_base.cc",
-    ],
-    hdrs = [
-        "optimizer_test_base.h",
-    ],
-    data = [
-        "//modules/map:map_data",
-        "//modules/planning:planning_testdata",
-    ],
-    deps = [
-        "//modules/common:log",
-        "//modules/common/adapters:adapter_manager",
-        "//modules/common/util",
-        "//modules/common/vehicle_state",
-        "//modules/planning:planning_impl",
-        "//modules/planning/common:data_center",
-        "//modules/planning/proto:dp_poly_path_config_proto",
-        "//modules/planning/proto:dp_st_speed_config_proto",
-        "@gtest//:gtest",
-    ],
-)
-
 cpplint()

modules/planning/optimizer/dp_poly_path/BUILD

@@ -59,7 +59,7 @@ cc_test(
     ],
     deps = [
         ":dp_poly_path",
-        "//modules/planning/optimizer:optimizer_test_base",
+        "//modules/planning/integration_tests:planning_test_base",
         "@gtest//:main",
     ],
 )
@@ -76,7 +76,7 @@ cc_test(
     ],
     deps = [
         ":dp_poly_path",
-        "//modules/planning/optimizer:optimizer_test_base",
+        "//modules/planning/integration_tests:planning_test_base",
         "@gtest//:main",
     ],
 )

modules/planning/optimizer/dp_poly_path/dp_road_graph_test.cc

@@ -32,14 +32,14 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_poly_path/dp_road_graph.h"
 #include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
-#include "modules/planning/optimizer/optimizer_test_base.h"
+#include "modules/planning/integration_tests/planning_test_base.h"
 
 namespace apollo {
 namespace planning {
 
 using common::adapter::AdapterManager;
 
-class DpRoadGraphTest : public OptimizerTestBase {
+class DpRoadGraphTest : public PlanningTestBase {
  public:
   void SetInitPoint() {
     init_point_.mutable_path_point()->set_x(pose_.position().x());
@@ -69,7 +69,7 @@ class DpRoadGraphTest : public OptimizerTestBase {
 
   virtual void SetUp() {
     google::InitGoogleLogging("DpRoadGraphTest");
-    OptimizerTestBase::SetUp();
+    PlanningTestBase::SetUp();
     SetInitPoint();
     SetSpeedDataWithConstVeolocity(10.0);
     const auto* frame = planning_.GetFrame();

modules/planning/optimizer/dp_poly_path/path_sampler_test.cc

@@ -27,17 +27,17 @@
 #include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_poly_path/path_sampler.h"
-#include "modules/planning/optimizer/optimizer_test_base.h"
+#include "modules/planning/integration_tests/planning_test_base.h"
 
 namespace apollo {
 namespace planning {
 
 using common::adapter::AdapterManager;
 
-class PathSamplerTest : public OptimizerTestBase {
+class PathSamplerTest : public PlanningTestBase {
  public:
   virtual void SetUp() {
-    OptimizerTestBase::SetUp();
+    PlanningTestBase::SetUp();
     sampled_points_.clear();
     init_point_.mutable_path_point()->set_x(pose_.position().x());
     init_point_.mutable_path_point()->set_y(pose_.position().y());

modules/planning/optimizer/dp_st_speed/BUILD

@@ -75,7 +75,7 @@ cc_test(
     ],
     deps = [
         ":dp_st_graph",
-        "//modules/planning/optimizer:optimizer_test_base",
+        "//modules/planning/integration_tests:planning_test_base",
         "@gtest//:main",
     ],
 )

modules/planning/optimizer/dp_st_speed/dp_st_graph_test.cc

@@ -31,14 +31,14 @@
 #include "modules/planning/common/data_center.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/optimizer/dp_st_speed/dp_st_graph.h"
-#include "modules/planning/optimizer/optimizer_test_base.h"
+#include "modules/planning/integration_tests/planning_test_base.h"
 
 namespace apollo {
 namespace planning {
 
 using common::adapter::AdapterManager;
 
-class DpStSpeedTest : public OptimizerTestBase {
+class DpStSpeedTest : public PlanningTestBase {
  public:
   void SetInitPoint() {
     init_point_.mutable_path_point()->set_x(pose_.position().x());
@@ -68,7 +68,7 @@ class DpStSpeedTest : public OptimizerTestBase {
 
   virtual void SetUp() {
     google::InitGoogleLogging("DpStSpeedTest");
-    OptimizerTestBase::SetUp();
+    PlanningTestBase::SetUp();
     SetInitPoint();
     SetPathDataWithStraightLine();
     const auto* frame = planning_.GetFrame();