control: updated integrated tests.

wei07283091 · Nov 25, 2019 · 32bd225 · 32bd225
1 parent f606afb
commit 32bd225
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Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/modules/control/control_component.cc b/modules/control/control_component.cc
@@ -100,9 +100,7 @@ bool ControlComponent::Init() {
   } else {
     local_view_writer_ =
         node_->CreateWriter<LocalView>(FLAGS_control_local_view_topic);
-    CHECK(local_view_writer_);
-    pad_msg_writer_ = node_->CreateWriter<PadMessage>(FLAGS_pad_topic);
-    CHECK(pad_msg_writer_);
+    CHECK(local_view_writer_ != nullptr);
   }
 
   // set initial vehicle state by cmd
@@ -312,6 +310,7 @@ bool ControlComponent::Proc() {
   }
 
   {
+    // TODO(SHU): to avoid redundent copy
     std::lock_guard<std::mutex> lock(mutex_);
     local_view_.mutable_chassis()->CopyFrom(latest_chassis_);
     local_view_.mutable_trajectory()->CopyFrom(latest_trajectory_);
@@ -321,7 +320,6 @@ bool ControlComponent::Proc() {
   // use control submodules
   if (FLAGS_use_control_submodules) {
     local_view_writer_->Write(std::make_shared<LocalView>(local_view_));
-    pad_msg_writer_->Write(std::make_shared<PadMessage>(pad_msg_));
     return true;
   }
 

diff --git a/modules/control/control_component.h b/modules/control/control_component.h
@@ -114,7 +114,6 @@ class ControlComponent final : public apollo::cyber::TimerComponent {
   std::shared_ptr<Writer<ControlCommand>> control_cmd_writer_;
   // when using control submodules
   std::shared_ptr<Writer<LocalView>> local_view_writer_;
-  std::shared_ptr<Writer<PadMessage>> pad_msg_writer_;
 
   common::monitor::MonitorLogBuffer monitor_logger_buffer_;
 

diff --git a/modules/control/integration_tests/control_test_base.cc b/modules/control/integration_tests/control_test_base.cc
@@ -120,13 +120,19 @@ bool ControlTestBase::test_control() {
     control_.OnMonitor(monitor_message);
   }
 
+  control_.local_view_.mutable_chassis()->CopyFrom(control_.latest_chassis_);
+  control_.local_view_.mutable_trajectory()->CopyFrom(
+      control_.latest_trajectory_);
+  control_.local_view_.mutable_localization()->CopyFrom(
+      control_.latest_localization_);
+
   auto err = control_.ProduceControlCommand(&control_command_);
   if (!err.ok()) {
     ADEBUG << "control ProduceControlCommand failed";
     return false;
   }
   return true;
-}
+}  // namespace control
 
 void ControlTestBase::trim_control_command(ControlCommand *origin) {
   origin->mutable_header()->clear_radar_timestamp();

diff --git a/modules/control/submodules/preprocessor_submodule.cc b/modules/control/submodules/preprocessor_submodule.cc
@@ -75,6 +75,7 @@ bool PreprocessorSubmodule::Proc(
       AERROR << "local view msg is not ready!";
       return false;
     }
+    // TODO(SHU): to avoid redundent copy
     local_view_->CopyFrom(*local_view_msg);
   }