93 lines
3.6 KiB
C
93 lines
3.6 KiB
C
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/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class ReceiveLocalSlamResultsHandler
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: public framework::RpcHandler<
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proto::ReceiveLocalSlamResultsRequest,
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framework::Stream<proto::ReceiveLocalSlamResultsResponse>> {
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public:
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void OnRequest(
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const proto::ReceiveLocalSlamResultsRequest& request) override {
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auto writer = GetWriter();
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MapBuilderServer::SubscriptionId subscription_id =
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GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->SubscribeLocalSlamResults(
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request.trajectory_id(),
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[writer](int trajectory_id, cartographer::common::Time time,
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cartographer::transform::Rigid3d local_pose,
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std::shared_ptr<const cartographer::sensor::RangeData>
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range_data,
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std::unique_ptr<const cartographer::mapping::NodeId>
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node_id) {
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writer(GenerateResponse(trajectory_id, time, local_pose,
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range_data, std::move(node_id)));
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});
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subscription_id_ =
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cartographer::common::make_unique<MapBuilderServer::SubscriptionId>(
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subscription_id);
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}
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static std::unique_ptr<proto::ReceiveLocalSlamResultsResponse>
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GenerateResponse(
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int trajectory_id, cartographer::common::Time time,
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const cartographer::transform::Rigid3d& local_pose,
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std::shared_ptr<const cartographer::sensor::RangeData> range_data,
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std::unique_ptr<const cartographer::mapping::NodeId> node_id) {
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auto response = cartographer::common::make_unique<
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proto::ReceiveLocalSlamResultsResponse>();
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response->set_trajectory_id(trajectory_id);
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response->set_timestamp(cartographer::common::ToUniversal(time));
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*response->mutable_local_pose() =
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cartographer::transform::ToProto(local_pose);
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if (range_data) {
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*response->mutable_range_data() =
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cartographer::sensor::ToProto(*range_data);
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}
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if (node_id) {
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response->mutable_node_id()->set_trajectory_id(node_id->trajectory_id);
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response->mutable_node_id()->set_node_index(node_id->node_index);
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}
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return response;
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}
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void OnFinish() override {
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if (subscription_id_) {
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GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->UnsubscribeLocalSlamResults(*subscription_id_);
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}
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}
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private:
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std::unique_ptr<MapBuilderServer::SubscriptionId> subscription_id_;
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
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