cartographer/cartographer_grpc/handlers/load_map_handler.cc

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/*
* Copyright 2018 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.
*/
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
namespace cartographer_grpc {
namespace handlers {
void LoadMapHandler::OnRequest(const proto::LoadMapRequest& request) {
switch (request.map_chunk_case()) {
case proto::LoadMapRequest::kPoseGraph:
reader_.AddProto(request.pose_graph());
break;
case proto::LoadMapRequest::kAllTrajectoryBuilderOptions:
reader_.AddProto(request.all_trajectory_builder_options());
break;
case proto::LoadMapRequest::kSerializedData:
reader_.AddProto(request.serialized_data());
break;
default:
LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
}
}
void LoadMapHandler::OnReadsDone() {
GetContext<MapBuilderContextInterface>()->map_builder().LoadMap(&reader_);
Send(cartographer::common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cartographer_grpc