testhelper

Documentation

Overview

Package testhelper implements a slam service definition with additional exported functions for the purpose of testing

Index

• func TestComparePointCloudsFromPCDs(t *testing.T, pcdInput, pcdOutput []byte)
• type Service

Functions

func TestComparePointCloudsFromPCDs

func TestComparePointCloudsFromPCDs(t *testing.T, pcdInput, pcdOutput []byte)

TestComparePointCloudsFromPCDs is a helper function for checking GetPointCloudMapFull response along with associated pcd validity checks.

Types

type Service

type Service interface {
	StartDataProcess(cancelCtx context.Context, cam []camera.Camera, c chan int)
	StartSLAMProcess(ctx context.Context) error
	StopSLAMProcess() error
	Close() error
	GetSLAMProcessConfig() pexec.ProcessConfig
	GetSLAMProcessBufferedLogReader() bufio.Reader
}

Service in the internal package includes additional exported functions relating to the data and slam processes in the slam service. These functions are not exported to the user. This resolves a circular import caused by the inject package.