diff --git a/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/basic_map_loading_from_wfs_test.cpp b/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/basic_map_loading_from_wfs_test.cpp index 67d15d6..527ffac 100644 --- a/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/basic_map_loading_from_wfs_test.cpp +++ b/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/basic_map_loading_from_wfs_test.cpp @@ -41,7 +41,7 @@ int main( int argc, char* argv[] ) std::filesystem::remove_all( "cache" ); // Initialize the configuration from a properties file - Config cfg( "../../../../adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json" ); + Config cfg( "../../../src/adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json" ); // Use current directory for file cache and enable debug mode MapDownloader map_downloader( cfg.server_url, cfg.username, cfg.password, cfg.project_name, cfg.target_srs, cfg.bbox, "", true, true, true ); // curl_global_init, curl_global_cleanup, debug: diff --git a/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json b/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json index 8704f5b..1b9acc6 100644 --- a/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json +++ b/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json @@ -7,5 +7,5 @@ "password" : "Enter Your Password Here", "reference_lines" : "adore-urbandrive-r2s-referenceline", "laneborders" : "adore-urbandrive-r2s-laneborder", - "output" : "../../../../adore_test_programs/adore_map_downloader_test/tracks/de_bs_borders_wfs" + "output" : "../../../src/adore_test_programs/adore_map_downloader_test/tracks/de_bs_borders_wfs" } diff --git a/ros2_workspace/src/adore_test_programs/adore_map_downloader_test/csv/de_bs_borders_wfs.r2sl 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distributed with this work for additional - * information regarding copyright ownership. - * - * This program and the accompanying materials are made available under the - * terms of the Eclipse Public License 2.0 which is available at - * https://www.eclipse.org/legal/epl-2.0 - * - * SPDX-License-Identifier: EPL-2.0 - ********************************************************************************/ - -#include -#include -#include "adore_map/map_loader.hpp" -#include "adore_map/config.hpp" -#include "helpers.hpp" - -/** - * @brief Test program to load R2S map data from WFS and compare with R2S map data loaded from file - * @details This program initializes a MapDownloader instance, downloads map data for reference lines and - * lane borders from WFS, loads R2S map data from from CSV files created using a Python downloader - * and the R2S parser (the legacy methods for loading map data) and compares the two datasets for - * equality. These files were created from the same source as the WFS data, so they should match. - * It demonstrates the functionality of loading map data from WFS and ensures consistency with - * legacy R2S CSV files. The program uses a configuration file to set parameters such as server URL, - * project name, layer names, and bounding box. - * @return int Exit code indicating success or failure - */ - -// Main function to test loading R2S map data from WFS and comparing with R2S map data loaded from file -int main( int argc, char* argv[] ) -{ - if( argc != 1 ) - { - std::cerr << "Usage: " << module_name( argv[0] ) << " (i.e., without parameters)." << std::endl; - exit( -1 ); - } - - // Clean up potential remnants from previous test runs: remove the complete cache directory, which may contain cached map layer data from previous runs. - std::filesystem::remove_all( "cache" ); - - Config cfg( "../../../../adore_test_programs/adore_map_downloader_test/config/r2s_wfs_config_bs.json" ); - MapDownloader map_downloader( cfg ); - - // Replace above line by the next two lines to enable debug mode: - // MapDownloader map_downloader( cfg.server_url, cfg.username, cfg.password, cfg.project_name, cfg.target_srs, cfg.bbox, - // "", false, false, true ); - - // For this test, disable caching of map layer data in the MapCache instance (caching is already tested in adore_map/test/map_download_cache_test.cpp) - map_downloader.turn_off_cache(); - - // For testing purposes, curl_global_init, curl_global_cleanup, and debug_mode all set to false here. - // This means that the internal curl wrapper will not initialize or cleanup curl globally - // and debug mode is off. - // Since this is a standalone test program, global curl initialization relies on the fact that the - // first call to curl_easy_init() invokes it internally (this works, but is not recommended for production code). - // Global curl cleanup relies on the C++ runtime system and the OS to clean up resources upon program - // exit. In a real application, the aforementioned flags should be set according to the application's needs. - - std::cout << module_name( argv[0] ) << ": A) Loading r2s map data from file... " << std::endl; - std::cout << module_name( argv[0] ) << ": 1. Loading road file..." << std::endl; - auto border_data_r2sr_from_file = adore::r2s::load_border_data_from_r2sr_file( "../../../../adore_test_programs/adore_map_downloader_test/csv/de_bs_borders_wfs.r2sr" ); - std::cout << module_name( argv[0] ) << ": Road file has been loaded, size: " << border_data_r2sr_from_file.size() - << std::endl; - std::cout << module_name( argv[0] ) << ": 2. Lane file..." << std::endl; - // The same path as before is passed to the next method, since the method will change the suffix to .r2sl internally - auto border_data_r2sl_from_file = adore::r2s::load_border_data_from_r2sl_file( "../../../../adore_test_programs/adore_map_downloader_test/csv/de_bs_borders_wfs.r2sr" ); - std::cout << module_name( argv[0] ) << ": Lane file has been loaded, size: " << border_data_r2sl_from_file.size() << std::endl; - - std::cout << module_name( argv[0] ) << ": B) Loading r2s map data from WFS... " << std::endl; - std::cout << module_name( argv[0] ) << ": 1. Loading reference lines from WFS... (layer name: " - << cfg.layer_name_reference_lines << ")" << std::endl; - auto border_data_r2sr_from_wfs = adore::r2s::download_reference_lines( map_downloader, cfg.layer_name_reference_lines ); - std::cout << module_name( argv[0] ) << ": Reference lines have been loaded from WFS, size: " - << border_data_r2sr_from_wfs.size() << std::endl; - std::cout << module_name( argv[0] ) << ": 2. Loading lane borders from WFS... (layer name: " - << cfg.layer_name_lane_borders << ")" << std::endl; - auto border_data_r2sl_from_wfs = adore::r2s::download_lane_borders( map_downloader, cfg.layer_name_lane_borders ); - std::cout << module_name( argv[0] ) << ": Lane borders have been loaded from WFS, size: " - << border_data_r2sl_from_wfs.size() << std::endl; - - std::cout << module_name( argv[0] ) << ": Comparing the border data... " << std::endl; - if ( border_data_r2sr_from_file != border_data_r2sr_from_wfs ) { - std::cerr << module_name( argv[0] ) << ": R2SR border data from file and WFS differ, test failed." << std::endl; - return -2; - } - if ( border_data_r2sl_from_file != border_data_r2sl_from_wfs ) { - std::cerr << module_name( argv[0] ) << ": R2SL border data from file and WFS differ, test failed." << std::endl; - return -2; - } - std::cout << module_name( argv[0] ) << ": Tolerating differences up to 2e-6, border data from file and WFS are identical. Test succeeded." - << std::endl; - return 0; -}