57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
|
/*
|
||
|
|
* 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/write_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/map_builder_server.h"
|
||
|
|
#include "cartographer_grpc/proto/map_builder_service.pb.h"
|
||
|
|
|
||
|
|
namespace cartographer_grpc {
|
||
|
|
namespace handlers {
|
||
|
|
|
||
|
|
void WriteMapHandler::OnRequest(const google::protobuf::Empty& request) {
|
||
|
|
auto writer = GetWriter();
|
||
|
|
cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
|
||
|
|
[writer](const google::protobuf::Message* proto) {
|
||
|
|
if (!proto) {
|
||
|
|
writer.WritesDone();
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
auto response =
|
||
|
|
cartographer::common::make_unique<proto::WriteMapResponse>();
|
||
|
|
if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
|
||
|
|
response->mutable_pose_graph()->CopyFrom(*proto);
|
||
|
|
} else if (proto->GetTypeName() ==
|
||
|
|
"cartographer.mapping.proto.SerializedData") {
|
||
|
|
response->mutable_serialized_data()->CopyFrom(*proto);
|
||
|
|
} else {
|
||
|
|
LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
|
||
|
|
}
|
||
|
|
writer.Write(std::move(response));
|
||
|
|
return true;
|
||
|
|
});
|
||
|
|
GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
|
||
|
|
&proto_stream_writer);
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace handlers
|
||
|
|
} // namespace cartographer_grpc
|