diff --git a/modules/planning/integration_tests/BUILD b/modules/planning/integration_tests/BUILD index cc6135cce86ea82bdf4a3fe11e88cd464a176277..28cd9dbbb4361b22cb394fe82cc8409d07e9f91d 100644 --- a/modules/planning/integration_tests/BUILD +++ b/modules/planning/integration_tests/BUILD @@ -39,7 +39,6 @@ cc_test( ], deps = [ ":planning_test_base", - "@gtest//:main", ], ) diff --git a/modules/planning/integration_tests/garage_test.cc b/modules/planning/integration_tests/garage_test.cc index 1d087d1ecee081ddf7e386693de61db19eee7fda..ad50a2a9448cbd03b8efe8088a4778bd7b3dbaef 100644 --- a/modules/planning/integration_tests/garage_test.cc +++ b/modules/planning/integration_tests/garage_test.cc @@ -78,3 +78,5 @@ TEST_F(GarageTest, follow) { } // namespace planning } // namespace apollo + +TMAIN; diff --git a/modules/planning/integration_tests/planning_test_base.cc b/modules/planning/integration_tests/planning_test_base.cc index abc030890b6e7b66e9ae239926a28721e7b42347..6235bd9b29cfde755758979688bc159dcf3880ca 100644 --- a/modules/planning/integration_tests/planning_test_base.cc +++ b/modules/planning/integration_tests/planning_test_base.cc @@ -119,7 +119,7 @@ bool PlanningTestBase::RunPlanning(const std::string& test_case_name, << "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); + full_golden_path); } else { ADCTrajectory golden_result; bool load_success = ::apollo::common::util::GetProtoFromASCIIFile( diff --git a/modules/planning/integration_tests/planning_test_base.h b/modules/planning/integration_tests/planning_test_base.h index 5037b152a100a7c9477ae316859cdb1b3722b741..ada95d6b96957204a3ddd31e2fcb37e4b9ad0ab5 100644 --- a/modules/planning/integration_tests/planning_test_base.h +++ b/modules/planning/integration_tests/planning_test_base.h @@ -35,6 +35,13 @@ namespace planning { using common::adapter::AdapterManager; +#define TMAIN \ +int main(int argc, char **argv) { \ + ::testing::InitGoogleTest(&argc, argv); \ + ::google::ParseCommandLineFlags(&argc, &argv, true); \ + return RUN_ALL_TESTS(); \ +} + #define RUN_GOLDEN_TEST \ { \ const ::testing::TestInfo* const test_info = \ diff --git a/modules/planning/optimizer/dp_poly_path/BUILD b/modules/planning/optimizer/dp_poly_path/BUILD index 5e13aee4df405dfa8bea37ba9a32cc4b99d209d2..0f34617b78c697542fd4973063c8b69ad20676a8 100644 --- a/modules/planning/optimizer/dp_poly_path/BUILD +++ b/modules/planning/optimizer/dp_poly_path/BUILD @@ -58,7 +58,6 @@ cc_test( deps = [ ":dp_poly_path", "//modules/planning/integration_tests:planning_test_base", - "@gtest//:main", ], ) 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 221052a79f13f3eb1497e2f0a5ae1c0a1f3378db..f7ac159e8c7e0a7409d4fbaf1be39236adebcf79 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 @@ -102,3 +102,5 @@ TEST_F(DpRoadGraphTest, speed_road_graph) { } // namespace planning } // namespace apollo + +TMAIN; \ No newline at end of file diff --git a/modules/planning/optimizer/dp_st_speed/BUILD b/modules/planning/optimizer/dp_st_speed/BUILD index c7099b5d86087a11cd827f3e4ea1e7b5e34c3f79..20a5f8abaac60175a1c44c93b3c986fbf53149fa 100644 --- a/modules/planning/optimizer/dp_st_speed/BUILD +++ b/modules/planning/optimizer/dp_st_speed/BUILD @@ -76,7 +76,6 @@ cc_test( deps = [ ":dp_st_graph", "//modules/planning/integration_tests:planning_test_base", - "@gtest//:main", ], ) 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 676ff479c7f7c936d1f374f5a59ddf3fe4c74f67..d1dec66cb76ae2361ff7ad1137bc8de35f2ea7ef 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 @@ -80,3 +80,5 @@ TEST_F(DpStSpeedTest, dp_st_graph_test) { } // namespace planning } // namespace apollo + +TMAIN; 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 index bb4b834d4438ec0e83c30acd05167d94b75e1024..89546a97c4d12781b0fc55cb024ca5e18b741a04 100755 --- 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 @@ -8,2254 +8,2254 @@ trajectory_point { path_point { x: 586387.203263 y: 4140676.21271 - 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x: 586345.52834582643 - y: 4140704.08096297 + x: 586345.52834582678 + y: 4140704.0809629704 } - stop_heading: 1.2587808807192182 + stop_heading: 1.258780880772874 } } object_decision { @@ -2279,10 +2279,10 @@ decision { reason_code: STOP_REASON_OBSTACLE distance_s: -5 stop_point { - x: 586345.52834582643 - y: 4140704.08096297 + x: 586345.52834582678 + y: 4140704.0809629704 } - stop_heading: 1.2587808807192182 + stop_heading: 1.258780880772874 } } }