cartographer/cartographer_grpc/local_trajectory_uploader.cc

209 lines
8.0 KiB
C++
Raw Normal View History

/*
* 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/local_trajectory_uploader.h"
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace {
const cartographer::common::Duration kPopTimeout =
cartographer::common::FromMilliseconds(100);
} // namespace
LocalTrajectoryUploader::LocalTrajectoryUploader(
const std::string &uplink_server_address)
: client_channel_(grpc::CreateChannel(
uplink_server_address, grpc::InsecureChannelCredentials())) {}
LocalTrajectoryUploader::~LocalTrajectoryUploader() {
if (add_imu_client_) {
CHECK(add_imu_client_->WritesDone());
CHECK(add_imu_client_->Finish().ok());
}
if (add_odometry_client_) {
CHECK(add_odometry_client_->WritesDone());
CHECK(add_odometry_client_->Finish().ok());
}
if (add_fixed_frame_pose_client_) {
CHECK(add_fixed_frame_pose_client_->WritesDone());
CHECK(add_fixed_frame_pose_client_->Finish().ok());
}
if (add_local_slam_result_client_) {
CHECK(add_local_slam_result_client_->WritesDone());
CHECK(add_local_slam_result_client_->Finish().ok());
}
if (add_landmark_client_) {
CHECK(add_landmark_client_->WritesDone());
CHECK(add_landmark_client_->Finish().ok());
}
}
void LocalTrajectoryUploader::Start() {
CHECK(!shutting_down_);
CHECK(!upload_thread_);
upload_thread_ = cartographer::common::make_unique<std::thread>(
[this]() { this->ProcessSendQueue(); });
}
void LocalTrajectoryUploader::Shutdown() {
CHECK(!shutting_down_);
CHECK(upload_thread_);
shutting_down_ = true;
upload_thread_->join();
}
void LocalTrajectoryUploader::ProcessSendQueue() {
LOG(INFO) << "Starting uploader thread.";
while (!shutting_down_) {
auto data_message = send_queue_.PopWithTimeout(kPopTimeout);
if (data_message) {
if (auto *fixed_frame_pose_data =
dynamic_cast<proto::AddFixedFramePoseDataRequest *>(
data_message.get())) {
ProcessFixedFramePoseDataMessage(fixed_frame_pose_data);
} else if (auto *imu_data = dynamic_cast<proto::AddImuDataRequest *>(
data_message.get())) {
ProcessImuDataMessage(imu_data);
} else if (auto *odometry_data =
dynamic_cast<proto::AddOdometryDataRequest *>(
data_message.get())) {
ProcessOdometryDataMessage(odometry_data);
} else if (auto *local_slam_result_data =
dynamic_cast<proto::AddLocalSlamResultDataRequest *>(
data_message.get())) {
ProcessLocalSlamResultDataMessage(local_slam_result_data);
} else if (auto *landmark_data =
dynamic_cast<proto::AddLandmarkDataRequest *>(
data_message.get())) {
ProcessLandmarkDataMessage(landmark_data);
} else {
LOG(FATAL) << "Unknown message type: " << data_message->GetTypeName();
}
}
}
}
void LocalTrajectoryUploader::TranslateTrajectoryId(
proto::SensorMetadata *sensor_metadata) {
int cloud_trajectory_id =
local_to_cloud_trajectory_id_map_.at(sensor_metadata->trajectory_id());
sensor_metadata->set_trajectory_id(cloud_trajectory_id);
}
void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
proto::AddFixedFramePoseDataRequest *data_request) {
if (!add_fixed_frame_pose_client_) {
add_fixed_frame_pose_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddFixedFramePoseDataHandler>>(
client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
CHECK(add_fixed_frame_pose_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessImuDataMessage(
proto::AddImuDataRequest *data_request) {
if (!add_imu_client_) {
add_imu_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddImuDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
CHECK(add_imu_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessOdometryDataMessage(
proto::AddOdometryDataRequest *data_request) {
if (!add_odometry_client_) {
add_odometry_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
CHECK(add_odometry_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessLandmarkDataMessage(
proto::AddLandmarkDataRequest *data_request) {
if (!add_landmark_client_) {
add_landmark_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
CHECK(add_landmark_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessLocalSlamResultDataMessage(
proto::AddLocalSlamResultDataRequest *data_request) {
if (!add_local_slam_result_client_) {
add_local_slam_result_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddLocalSlamResultDataHandler>>(
client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
// A submap also holds a trajectory id that must be translated to uplink's
// trajectory id.
for (cartographer::mapping::proto::Submap &mutable_submap :
*data_request->mutable_local_slam_result_data()->mutable_submaps()) {
mutable_submap.mutable_submap_id()->set_trajectory_id(
data_request->sensor_metadata().trajectory_id());
}
CHECK(add_local_slam_result_client_->Write(*data_request));
}
void LocalTrajectoryUploader::AddTrajectory(
int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions
&trajectory_options) {
proto::AddTrajectoryRequest request;
*request.mutable_trajectory_builder_options() = trajectory_options;
for (const SensorId &sensor_id : expected_sensor_ids) {
// Range sensors are not forwarded, but combined into a LocalSlamResult.
if (sensor_id.type != SensorId::SensorType::RANGE) {
*request.add_expected_sensor_ids() = sensor::ToProto(sensor_id);
}
}
*request.add_expected_sensor_ids() =
sensor::ToProto(GetLocalSlamResultSensorId(local_trajectory_id));
framework::Client<handlers::AddTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
local_to_cloud_trajectory_id_map_[local_trajectory_id] =
client.response().trajectory_id();
}
void LocalTrajectoryUploader::FinishTrajectory(int local_trajectory_id) {
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 1);
int cloud_trajectory_id =
local_to_cloud_trajectory_id_map_[local_trajectory_id];
proto::FinishTrajectoryRequest request;
request.set_trajectory_id(cloud_trajectory_id);
framework::Client<handlers::FinishTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
}
void LocalTrajectoryUploader::EnqueueDataRequest(
std::unique_ptr<google::protobuf::Message> data_request) {
send_queue_.Push(std::move(data_request));
}
} // namespace cartographer_grpc