cartographer/cartographer_grpc/handlers/receive_local_slam_results_...

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/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc {
namespace handlers {
class ReceiveLocalSlamResultsHandler
: public framework::RpcHandler<
proto::ReceiveLocalSlamResultsRequest,
framework::Stream<proto::ReceiveLocalSlamResultsResponse>> {
public:
void OnRequest(
const proto::ReceiveLocalSlamResultsRequest& request) override {
auto writer = GetWriter();
MapBuilderServer::SubscriptionId subscription_id =
GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
->SubscribeLocalSlamResults(
request.trajectory_id(),
[writer](std::unique_ptr<MapBuilderServer::LocalSlamResult>
local_slam_result) {
if (local_slam_result) {
writer.Write(
GenerateResponse(std::move(local_slam_result)));
} else {
// Callback with 'nullptr' signals that the trajectory
// finished.
writer.WritesDone();
}
});
subscription_id_ =
cartographer::common::make_unique<MapBuilderServer::SubscriptionId>(
subscription_id);
}
static std::unique_ptr<proto::ReceiveLocalSlamResultsResponse>
GenerateResponse(
std::unique_ptr<MapBuilderServer::LocalSlamResult> local_slam_result) {
auto response = cartographer::common::make_unique<
proto::ReceiveLocalSlamResultsResponse>();
response->set_trajectory_id(local_slam_result->trajectory_id);
response->set_timestamp(
cartographer::common::ToUniversal(local_slam_result->time));
*response->mutable_local_pose() =
cartographer::transform::ToProto(local_slam_result->local_pose);
if (local_slam_result->range_data) {
*response->mutable_range_data() =
cartographer::sensor::ToProto(*local_slam_result->range_data);
}
if (local_slam_result->insertion_result) {
local_slam_result->insertion_result->node_id.ToProto(
response->mutable_insertion_result()->mutable_node_id());
}
return response;
}
void OnFinish() override {
if (subscription_id_) {
GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
->UnsubscribeLocalSlamResults(*subscription_id_);
}
}
private:
std::unique_ptr<MapBuilderServer::SubscriptionId> subscription_id_;
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H