added GetLatestMapInfo testing to integration tests

integration_test.go

@@ -34,14 +34,25 @@ const (
 )
 
 // Checks the cartographer map and confirms there at least 100 map points.
-func testCartographerMap(t *testing.T, svc slam.Service) {
+func testCartographerMap(t *testing.T, svc slam.Service, localizationMode bool) {
+	timestamp1, err := svc.GetLatestMapInfo(context.Background())
+	test.That(t, err, test.ShouldBeNil)
 	pcd, err := slam.GetPointCloudMapFull(context.Background(), svc)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pcd, test.ShouldNotBeNil)
+	timestamp2, err := svc.GetLatestMapInfo(context.Background())
+	test.That(t, err, test.ShouldBeNil)
+
+	if localizationMode == true {
+		test.That(t, timestamp1, test.ShouldResemble, timestamp2)
+	} else {
+		test.That(t, timestamp2.After(timestamp1), test.ShouldBeTrue)
+	}
 
 	pointcloud, _ := pointcloud.ReadPCD(bytes.NewReader(pcd))
 	t.Logf("Pointcloud points: %v", pointcloud.Size())
 	test.That(t, pointcloud.Size(), test.ShouldBeGreaterThanOrEqualTo, 100)
+
 }
 
 // Checks the cartographer position within a defined tolerance.
@@ -156,7 +167,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	}
 
 	testCartographerPosition(t, svc, attrCfg.Sensors[0])
-	testCartographerMap(t, svc)
+	testCartographerMap(t, svc, false)
 
 	// Close out slam service
 	test.That(t, svc.Close(context.Background()), test.ShouldBeNil)
@@ -230,7 +241,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	}
 
 	testCartographerPosition(t, svc, "") // leaving this empty because cartographer does not interpret the component reference in offline mode
-	testCartographerMap(t, svc)
+	testCartographerMap(t, svc, false)
 
 	// Sleep to ensure cartographer saves at least one map
 	time.Sleep(time.Second * time.Duration(*attrCfg.MapRateSec))
@@ -307,7 +318,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	}
 
 	testCartographerPosition(t, svc, attrCfg.Sensors[0])
-	testCartographerMap(t, svc)
+	testCartographerMap(t, svc, true)
 
 	// Remove maps so that testing is done on the map generated by the internal map
 	test.That(t, testhelper.ResetFolder(dataDir+"/map"), test.ShouldBeNil)
@@ -385,7 +396,7 @@ func integrationtestHelperCartographer(t *testing.T, subAlgo viamcartographer.Su
 	}
 
 	testCartographerPosition(t, svc, attrCfg.Sensors[0])
-	testCartographerMap(t, svc)
+	testCartographerMap(t, svc, false)
 
 	// Close out slam service
 	test.That(t, svc.Close(context.Background()), test.ShouldBeNil)