[CI] 更泛用的Pnpsolver测试接口

tests/Pnpsolver.cpp

@@ -1,26 +1,25 @@
 #include <gtest/gtest.h>
 #include <interfaces/pnp_solver.hpp>
 #include "mocks/MockArmor2D.hpp"
-#include "v1/pnpsolver/armor_pnp_solver.hpp"
+#include "interfaces/pnp_solver.hpp"
 #include "parameters/rm_parameters.hpp"
 #include "mocks/MockHikCameraProfile.hpp"
 
-using world_exe::v1::pnpsolver::ArmorIPPEPnPSolver;
+using world_exe::interfaces::IPnpSolver;
 using world_exe::tests::mock::MockArmorInImage;
-using world_exe::parameters::Robomaster;
 
-void RunableTest(world_exe::interfaces::IPnpSolver& pnp_solver)
-{
-    auto mockarmor = MockArmorInImage::createMockArmorInImage();
-    pnp_solver.SolvePnp(mockarmor);
-}
-
-class PnpsolverTest : public ::testing::Test {
-protected:
-    ArmorIPPEPnPSolver pnp_solver;
-    PnpsolverTest(): pnp_solver( Robomaster::NormalArmorObjectPointsOpencv,Robomaster::LargeArmorObjectPointsOpencv){}
+class PnpsolverTest : public ::testing::TestWithParam<IPnpSolver*> {
+public:
+    PnpsolverTest() : pnp_solver_test(GetParam()) {}
 
+    void RunableTest()
+    {
+    auto mockarmor = MockArmorInImage::createMockArmorInImage();
+    pnp_solver_test->SolvePnp(mockarmor);
+    }
     void RunTest() {
-        RunableTest(pnp_solver);
+        RunableTest();
     }
+private:
+    IPnpSolver* pnp_solver_test;
 };

tests/test_main.cpp

@@ -1,18 +1,28 @@
 #include "Pnpsolver.cpp" 
+#include "v1/pnpsolver/armor_pnp_solver.hpp"
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-using namespace world_exe::interfaces;
-using namespace world_exe::data;
-using namespace world_exe::enumeration;
+
+using namespace world_exe::v1::pnpsolver;
+using world_exe::parameters::Robomaster;
 
 using ::testing::Return;
 using ::testing::_;
 
-TEST_F(PnpsolverTest,AbilityTest)
+TEST_P(PnpsolverTest,AbilityTest)
 {
+    ArmorIPPEPnPSolver pnp_solver_test_v1(Robomaster::NormalArmorObjectPointsOpencv,Robomaster::LargeArmorObjectPointsOpencv);
     RunTest();
+
 }
+INSTANTIATE_TEST_SUITE_P(PnpsolverTest, PnpsolverTest, ::testing::Values(
+    new ArmorIPPEPnPSolver(Robomaster::NormalArmorObjectPointsOpencv,Robomaster::LargeArmorObjectPointsOpencv)
+    ));
 
+    // INSTANTIATE__SUITE_P()
+    // 测试套件
+    // 测试类名
+    // 测试类的参数传入->GetParam()
 int main(int argc, char **argv) {
     ::testing::InitGoogleMock(&argc, argv);
     return RUN_ALL_TESTS();