cartographer/cartographer_grpc/mapping/trajectory_builder_stub.cc

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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.
*/
#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace mapping {
TrajectoryBuilderStub::TrajectoryBuilderStub(
std::shared_ptr<grpc::Channel> client_channel, const int trajectory_id,
LocalSlamResultCallback local_slam_result_callback)
: client_channel_(client_channel), trajectory_id_(trajectory_id) {
stub_ = proto::MapBuilderService::NewStub(client_channel_);
CHECK(stub_) << "Failed to create stub.";
if (local_slam_result_callback) {
proto::ReceiveLocalSlamResultsRequest request;
request.set_trajectory_id(trajectory_id);
local_slam_result_reader_.client_reader = stub_->ReceiveLocalSlamResults(
&local_slam_result_reader_.client_context, request);
auto* client_reader_ptr = local_slam_result_reader_.client_reader.get();
local_slam_result_reader_.thread =
cartographer::common::make_unique<std::thread>(
[client_reader_ptr, local_slam_result_callback]() {
RunLocalSlamResultReader(client_reader_ptr,
local_slam_result_callback);
});
}
}
TrajectoryBuilderStub::~TrajectoryBuilderStub() {
if (local_slam_result_reader_.thread) {
local_slam_result_reader_.thread->join();
}
if (rangefinder_writer_.client_writer) {
CHECK(rangefinder_writer_.client_writer->WritesDone());
CHECK(rangefinder_writer_.client_writer->Finish().ok());
}
if (imu_writer_.client_writer) {
CHECK(imu_writer_.client_writer->WritesDone());
CHECK(imu_writer_.client_writer->Finish().ok());
}
if (odometry_writer_.client_writer) {
CHECK(odometry_writer_.client_writer->WritesDone());
CHECK(odometry_writer_.client_writer->Finish().ok());
}
if (fixed_frame_writer_.client_writer) {
CHECK(fixed_frame_writer_.client_writer->WritesDone());
CHECK(fixed_frame_writer_.client_writer->Finish().ok());
}
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData& timed_point_cloud_data) {
if (!rangefinder_writer_.client_writer) {
rangefinder_writer_.client_writer = stub_->AddRangefinderData(
&rangefinder_writer_.client_context, &rangefinder_writer_.response);
CHECK(rangefinder_writer_.client_writer);
}
proto::AddRangefinderDataRequest request;
CreateAddRangeFinderDataRequest(
sensor_id, trajectory_id_,
cartographer::sensor::ToProto(timed_point_cloud_data), &request);
rangefinder_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) {
if (!imu_writer_.client_writer) {
imu_writer_.client_writer =
stub_->AddImuData(&imu_writer_.client_context, &imu_writer_.response);
CHECK(imu_writer_.client_writer);
}
proto::AddImuDataRequest request;
CreateAddImuDataRequest(sensor_id, trajectory_id_,
cartographer::sensor::ToProto(imu_data), &request);
imu_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) {
if (!odometry_writer_.client_writer) {
odometry_writer_.client_writer = stub_->AddOdometryData(
&odometry_writer_.client_context, &odometry_writer_.response);
CHECK(odometry_writer_.client_writer);
}
proto::AddOdometryDataRequest request;
CreateAddOdometryDataRequest(sensor_id, trajectory_id_,
cartographer::sensor::ToProto(odometry_data),
&request);
odometry_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData& fixed_frame_pose) {
if (!fixed_frame_writer_.client_writer) {
fixed_frame_writer_.client_writer = stub_->AddFixedFramePoseData(
&fixed_frame_writer_.client_context, &fixed_frame_writer_.response);
CHECK(fixed_frame_writer_.client_writer);
}
proto::AddFixedFramePoseDataRequest request;
CreateAddFixedFramePoseDataRequest(
sensor_id, trajectory_id_,
cartographer::sensor::ToProto(fixed_frame_pose), &request);
fixed_frame_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddLocalSlamResultData(
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
local_slam_result_data) {
LOG(FATAL) << "Not implemented";
}
void TrajectoryBuilderStub::RunLocalSlamResultReader(
grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>* client_reader,
LocalSlamResultCallback local_slam_result_callback) {
proto::ReceiveLocalSlamResultsResponse response;
while (client_reader->Read(&response)) {
int trajectory_id = response.trajectory_id();
cartographer::common::Time time =
cartographer::common::FromUniversal(response.timestamp());
cartographer::transform::Rigid3d local_pose =
cartographer::transform::ToRigid3(response.local_pose());
cartographer::sensor::RangeData range_data =
cartographer::sensor::FromProto(response.range_data());
auto insertion_result =
response.has_insertion_result()
? cartographer::common::make_unique<InsertionResult>(
InsertionResult{cartographer::mapping::NodeId{
response.insertion_result().node_id().trajectory_id(),
response.insertion_result().node_id().node_index()}})
: nullptr;
local_slam_result_callback(trajectory_id, time, local_pose, range_data,
std::move(insertion_result));
}
client_reader->Finish();
}
} // namespace mapping
} // namespace cartographer_grpc