adding tests

LibCarla/source/test/client/test_road.cpp

@@ -10,8 +10,10 @@
 #include <carla/road/MapBuilder.h>
 #include <carla/geom/Location.h>
 #include <carla/geom/Math.h>
+#include <carla/road/element/RoadInfoGeometry.h>
 #include <carla/road/element/RoadInfoVisitor.h>
 #include <carla/opendrive/OpenDriveParser.h>
+#include <carla/opendrive/parser/pugixml/pugixml.hpp>
 #include <fstream>
 
 using namespace carla::road;
@@ -19,6 +21,113 @@ using namespace carla::road::element;
 using namespace carla::geom;
 using namespace carla::opendrive;
 
+const std::string BASE_PATH = LIBCARLA_TEST_CONTENT_FOLDER "/OpenDrive/";
+
+// Geometry
+void test_geometry(const pugi::xml_document &xml, boost::optional<Map>& map)
+{
+  pugi::xml_node open_drive_node = xml.child("OpenDRIVE");
+
+  for (pugi::xml_node road_node : open_drive_node.children("road")) {
+    RoadId road_id = road_node.attribute("id").as_int();
+
+    for (pugi::xml_node plan_view_nodes : road_node.children("planView")) {
+      auto geometries_parser = plan_view_nodes.children("geometry");
+      size_t total_geometries_parser = std::distance(geometries_parser.begin(), geometries_parser.end());
+
+      size_t total_geometries = 0;
+      for (pugi::xml_node geometry_node : plan_view_nodes.children("geometry")){
+        float s = geometry_node.attribute("s").as_float();
+        auto geometry = map->_data.GetRoad(road_id)->GetInfo<RoadInfoGeometry>(s);
+        if (geometry != nullptr)
+          ++total_geometries;
+      }
+      ASSERT_EQ(total_geometries, total_geometries_parser);
+    }
+  }
+}
+
+
+void test_roads(const pugi::xml_document &xml, boost::optional<Map>& map)
+{
+  pugi::xml_node open_drive_node = xml.child("OpenDRIVE");
+
+  // Check total Roads
+  auto roads_parser = open_drive_node.children("road");
+  size_t total_roads_parser = std::distance(roads_parser.begin(), roads_parser.end());
+  size_t total_roads = map->_data.GetRoads().size();
+  ASSERT_EQ(total_roads, total_roads_parser);
+
+  for (pugi::xml_node road_node : roads_parser) {
+    RoadId road_id = road_node.attribute("id").as_int();
+
+    for (pugi::xml_node lanes_node : road_node.children("lanes")) {
+
+      // Check total Lane Sections
+      auto lane_sections_parser = lanes_node.children("laneSection");
+      size_t total_lane_sections_parser = std::distance(lane_sections_parser.begin(), lane_sections_parser.end());
+      size_t total_lane_sections = map->_data.GetRoad(road_id)->GetLaneSections().size();
+      ASSERT_EQ(total_lane_sections, total_lane_sections_parser);
+
+      for (pugi::xml_node lane_section_node : lane_sections_parser) {
+
+        // Check total Lanes
+        float s = lane_section_node.attribute("s").as_float();
+
+        auto ls_begin = map->_data.GetRoad(road_id)->GetLaneSectionsAt(s).begin();
+        auto ls_end = map->_data.GetRoad(road_id)->GetLaneSectionsAt(s).end();
+        size_t total_lanes = 0u;
+        for (auto& it = ls_begin; it != ls_end; ++it) {
+          total_lanes = it->GetLanes().size();
+        }
+        auto left_nodes = lane_section_node.child("left").children("lane");
+        auto right_nodes = lane_section_node.child("right").children("lane");
+        size_t total_lanes_parser = std::distance(left_nodes.begin(), left_nodes.end());
+        total_lanes_parser += std::distance(right_nodes.begin(), right_nodes.end());
+
+        ASSERT_EQ(total_lanes, total_lanes_parser);
+      }
+    }
+  }
+}
+
+// Junctions
+void test_junctions(const pugi::xml_document &xml, boost::optional<Map>& map)
+{
+
+  pugi::xml_node open_drive_node = xml.child("OpenDRIVE");
+
+  // Check total number of junctions
+  auto& junctions = map->_data.GetJunctions();
+  size_t total_junctions_parser = std::distance(open_drive_node.children("junction").begin(), open_drive_node.children("junction").end());
+
+  ASSERT_EQ(junctions.size(), total_junctions_parser);
+
+  for (pugi::xml_node junction_node : open_drive_node.children("junction")) {
+    // Check total number of connections
+    size_t total_connections_parser = std::distance(junction_node.children("connection").begin(), junction_node.children("connection").end());
+
+    JuncId junction_id = junction_node.attribute("id").as_int();
+    auto& junction = junctions.find(junction_id)->second;
+
+    auto& connections = junction.GetConnections();
+
+    ASSERT_EQ(connections.size(), total_connections_parser);
+
+    for (pugi::xml_node connection_node : junction_node.children("connection")) {
+      size_t total_lane_links_parser = std::distance(connection_node.children("laneLink").begin(), connection_node.children("laneLink").end());
+
+      ConId connection_id = connection_node.attribute("id").as_uint();
+      auto& connection = connections.find(connection_id)->second;
+
+    auto& lane_links = connection.lane_links;
+
+    ASSERT_EQ(lane_links.size(), total_lane_links_parser);
+
+    }
+  }
+}
+
 void print_roads(boost::optional<Map>& map) {
   std::ofstream file;
   file.open("roads.txt", std::ios::out | std::ios::trunc);
@@ -89,13 +198,55 @@ void test_junctions(boost::optional<Map>& map) {
 TEST(road, parse_files) {
   for (const auto &file : util::OpenDrive::GetAvailableFiles()) {
     std::cerr << file << std::endl;
+    auto map = OpenDriveParser::Load(util::OpenDrive::Load(file));
+    ASSERT_TRUE(map);
+  }
+}
+
+TEST(road, parse_junctions) {
+  for (const auto& file : util::OpenDrive::GetAvailableFiles()) {
     auto map = OpenDriveParser::Load(util::OpenDrive::Load(file));
     ASSERT_TRUE(map.has_value());
 
-    // Test junctions
-    // print_roads(map);
-    test_junctions(map);
+    const std::string full_path = BASE_PATH + file;
+    pugi::xml_document xml;
+
+    pugi::xml_parse_result result = xml.load_file( full_path.c_str());
+    ASSERT_TRUE(result);
+
+    test_junctions(xml, map);
   }
+
+}
+
+TEST(road, parse_lanes) {
+  for (const auto& file : util::OpenDrive::GetAvailableFiles()) {
+    auto map = OpenDriveParser::Load(util::OpenDrive::Load(file));
+    ASSERT_TRUE(map.has_value());
+
+    const std::string full_path = BASE_PATH + file;
+    pugi::xml_document xml;
+    pugi::xml_parse_result result = xml.load_file( full_path.c_str());
+    ASSERT_TRUE(result);
+
+    test_roads(xml, map);
+  }
+
+}
+
+TEST(road, parse_geometry) {
+  for (const auto& file : util::OpenDrive::GetAvailableFiles()) {
+    auto map = OpenDriveParser::Load(util::OpenDrive::Load(file));
+    ASSERT_TRUE(map.has_value());
+
+    const std::string full_path = BASE_PATH + file;
+    pugi::xml_document xml;
+    pugi::xml_parse_result result = xml.load_file( full_path.c_str());
+    ASSERT_TRUE(result);
+
+    test_geometry(xml, map);
+  }
+
 }
 
 /*

t.txt

@@ -1,39 +0,0 @@
-Setup.sh: llvm-6.0-ex already installed.
-Setup.sh: boost-1.69.0 already installed.
-Setup.sh: rpclib-v2.2.1_c1 already installed.
-Setup.sh: googletest-1.8.0-ex already installed.
-Setup.sh: CARLA version 0.9.4-153-g47119f9-dirty.
-Setup.sh: Generating CMake configuration files.
-Setup.sh: Success!
-BuildLibCarla.sh: Building LibCarla "Server.Debug" configuration.
-ninja: no work to do.
-[1/1] Install the project...
--- Install configuration: "Server"
-BuildLibCarla.sh: Success!
-BuildLibCarla.sh: Building LibCarla "Client.Debug" configuration.
-[1/2] Building CXX object LibCarla/cmake/test/CMakeFiles/libcarla_test_client_debug.dir/__/__/source/test/client/test_road.cpp.o
-[2/2] Linking CXX executable LibCarla/cmake/test/libcarla_test_client_debug
-[1/1] Install the project...
--- Install configuration: "Client"
--- Installing: /media/bernat/SSD/linux/carla/PythonAPI/dependencies/include/carla/road/MapBuilder.cpp
--- Installing: /media/bernat/SSD/linux/carla/PythonAPI/dependencies/include/carla/road/MapBuilder.h
--- Installing: /media/bernat/SSD/linux/carla/PythonAPI/dependencies/lib/libcarla_client_debug.a
--- Installing: /media/bernat/SSD/linux/carla/PythonAPI/dependencies/test/libcarla_test_client_debug
--- Set runtime path of "/media/bernat/SSD/linux/carla/PythonAPI/dependencies/test/libcarla_test_client_debug" to ""
-BuildLibCarla.sh: Success!
-Check.sh: Running LibCarla.server unit tests (debug).
-Running:  libcarla_test_server_debug --gtest_filter=road* 
-Running main() from gtest_main.cc
-Note: Google Test filter = road*
-[==========] Running 0 tests from 0 test cases.
-[==========] 0 tests from 0 test cases ran. (0 ms total)
-[  PASSED  ] 0 tests.
-Check.sh: Running LibCarla.client unit tests (debug).
-Running:  libcarla_test_client_debug --gtest_filter=road* 
-Running main() from gtest_main.cc
-Note: Google Test filter = road*
-[==========] Running 1 test from 1 test case.
-[----------] Global test environment set-up.
-[----------] 1 test from road
-[ RUN      ] road.parse_files
-Util/BuildTools/Linux.mk:48: recipe for target 'check.LibCarla.debug' failed