Artur Mukhamadiev
24b6f9937f
- Add OpenCV and stdexec dependencies - ImageRPC type bridging OpenCV and RPC layers - Stereo rectification boilerplate - get-available-methods RPC method with get_count/get_method_name_by_id/get_method_names - Tests for remote method retrieval - CPU/GPU stereo matcher interfaces with SGBM implementation - Documentation consistency pass across impl and docs TG-5 #ready-for-test TG-2 #in-progress
80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
#include "cloud_point_rpc/rpc_server.hpp"
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#include "cloud_point_rpc/service.hpp"
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <nlohmann/json.hpp>
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#include <string>
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#include <vector>
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using json = nlohmann::json;
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using namespace score;
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class RpcServerTest : public ::testing::Test {
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protected:
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RpcServer server;
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Service service;
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void SetUp() override {
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FLAGS_logtostderr = true;
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if (!google::IsGoogleLoggingInitialized())
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google::InitGoogleLogging("TestCli");
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server.register_method("get-intrinsic-params", [&](const json &) {
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return service.get_intrinsic_params();
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});
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}
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};
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TEST_F(RpcServerTest, GetIntrinsicParamsReturnsMatrix) {
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std::string request =
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R"({"jsonrpc": "2.0", "method": "get-intrinsic-params", "id": 1})";
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std::string response_str = server.process(request);
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json response = json::parse(response_str);
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ASSERT_EQ(response["jsonrpc"], "2.0");
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ASSERT_EQ(response["id"], 1);
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ASSERT_TRUE(response.contains("result"));
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auto result = response["result"].get<std::vector<double>>();
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EXPECT_EQ(result.size(), 9);
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// Verify Identity Matrix
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EXPECT_EQ(result[0], 1.0);
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EXPECT_EQ(result[4], 1.0);
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EXPECT_EQ(result[8], 1.0);
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}
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TEST_F(RpcServerTest, MethodNotFoundReturnsError) {
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std::string request =
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R"({"jsonrpc": "2.0", "method": "unknown-method", "id": 99})";
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std::string response_str = server.process(request);
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json response = json::parse(response_str);
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ASSERT_TRUE(response.contains("error"));
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EXPECT_EQ(response["error"]["code"], -32601);
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EXPECT_EQ(response["error"]["message"], "Method not found");
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}
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TEST_F(RpcServerTest, InvalidJsonReturnsParseError) {
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std::string request = R"({"jsonrpc": "2.0", "method": "broken-json...)";
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std::string response_str = server.process(request);
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json response = json::parse(response_str);
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ASSERT_TRUE(response.contains("error"));
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EXPECT_EQ(response["error"]["code"], -32700);
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}
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TEST_F(RpcServerTest, GetMethod) {
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EXPECT_EQ(server.get_count(), 2);
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EXPECT_EQ(server.get_method_name_by_id(1), "get-intrinsic-params");
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EXPECT_EQ(server.get_method_names()[1], "get-intrinsic-params");
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server.register_method("get-test-2", [&](const json &) {
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return std::variant<json, std::string>{std::string("test")};
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});
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EXPECT_EQ(server.get_count(), 3);
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EXPECT_EQ(server.get_method_name_by_id(2), "get-test-2");
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EXPECT_EQ(server.get_method_names()[2], "get-test-2");
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}
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