cartographer/cartographer_grpc/map_builder_server.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.
*/
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#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace {
const cartographer::common::Duration kPopTimeout =
cartographer::common::FromMilliseconds(100);
} // namespace
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MapBuilderServer::MapBuilderContext::MapBuilderContext(
MapBuilderServer* map_builder_server)
: map_builder_server_(map_builder_server) {}
cartographer::mapping::MapBuilderInterface&
MapBuilderServer::MapBuilderContext::map_builder() {
return *map_builder_server_->map_builder_;
}
cartographer::common::BlockingQueue<
std::unique_ptr<MapBuilderServer::SensorData>>&
MapBuilderServer::MapBuilderContext::sensor_data_queue() {
return map_builder_server_->sensor_data_queue_;
}
cartographer::mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
MapBuilderServer::MapBuilderContext::
GetLocalSlamResultCallbackForSubscriptions() {
MapBuilderServer* map_builder_server = map_builder_server_;
return [map_builder_server](
int trajectory_id, cartographer::common::Time time,
cartographer::transform::Rigid3d local_pose,
cartographer::sensor::RangeData range_data,
std::unique_ptr<const cartographer::mapping::NodeId> node_id) {
map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
std::move(range_data),
std::move(node_id));
};
}
void MapBuilderServer::MapBuilderContext::AddSensorDataToTrajectory(
const SensorData& sensor_data) {
sensor_data.sensor_data->AddToTrajectoryBuilder(
map_builder_server_->map_builder_->GetTrajectoryBuilder(
sensor_data.trajectory_id));
}
MapBuilderServer::SubscriptionId
MapBuilderServer::MapBuilderContext::SubscribeLocalSlamResults(
int trajectory_id, LocalSlamSubscriptionCallback callback) {
return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
callback);
}
void MapBuilderServer::MapBuilderContext::UnsubscribeLocalSlamResults(
const SubscriptionId& subscription_id) {
map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
}
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MapBuilderServer::MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder)
: map_builder_(std::move(map_builder)) {
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framework::Server::Builder server_builder;
server_builder.SetServerAddress(map_builder_server_options.server_address());
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server_builder.SetNumGrpcThreads(
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map_builder_server_options.num_grpc_threads());
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server_builder.SetNumEventThreads(
map_builder_server_options.num_event_threads());
server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
proto::MapBuilderService>("AddTrajectory");
server_builder.RegisterHandler<handlers::AddOdometryDataHandler,
proto::MapBuilderService>("AddOdometryData");
server_builder
.RegisterHandler<handlers::AddImuDataHandler, proto::MapBuilderService>(
"AddImuData");
server_builder.RegisterHandler<handlers::AddRangefinderDataHandler,
proto::MapBuilderService>(
"AddRangefinderData");
server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler,
proto::MapBuilderService>(
"AddFixedFramePoseData");
server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
proto::MapBuilderService>("FinishTrajectory");
server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler,
proto::MapBuilderService>(
"ReceiveLocalSlamResults");
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grpc_server_ = server_builder.Build();
grpc_server_->SetExecutionContext(
cartographer::common::make_unique<MapBuilderContext>(this));
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}
void MapBuilderServer::Start() {
shutting_down_ = false;
StartSlamThread();
grpc_server_->Start();
}
void MapBuilderServer::WaitForShutdown() {
grpc_server_->WaitForShutdown();
if (slam_thread_) {
slam_thread_->join();
}
}
void MapBuilderServer::Shutdown() {
shutting_down_ = true;
grpc_server_->Shutdown();
if (slam_thread_) {
slam_thread_->join();
}
}
void MapBuilderServer::ProcessSensorDataQueue() {
LOG(INFO) << "Starting SLAM thread.";
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while (!shutting_down_) {
std::unique_ptr<SensorData> sensor_data =
sensor_data_queue_.PopWithTimeout(kPopTimeout);
if (sensor_data) {
grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
*sensor_data);
}
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}
}
void MapBuilderServer::StartSlamThread() {
CHECK(!slam_thread_);
// Start the SLAM processing thread.
slam_thread_ = cartographer::common::make_unique<std::thread>(
[this]() { this->ProcessSensorDataQueue(); });
}
void MapBuilderServer::OnLocalSlamResult(
int trajectory_id, cartographer::common::Time time,
cartographer::transform::Rigid3d local_pose,
cartographer::sensor::RangeData range_data,
std::unique_ptr<const cartographer::mapping::NodeId> node_id) {
auto shared_range_data =
std::make_shared<cartographer::sensor::RangeData>(std::move(range_data));
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
auto copy_of_node_id =
node_id ? cartographer::common::make_unique<
const cartographer::mapping::NodeId>(*node_id)
: nullptr;
LocalSlamSubscriptionCallback callback = entry.second;
callback(cartographer::common::make_unique<LocalSlamResult>(
LocalSlamResult{trajectory_id, time, local_pose, shared_range_data,
std::move(copy_of_node_id)}));
}
}
MapBuilderServer::SubscriptionId MapBuilderServer::SubscribeLocalSlamResults(
int trajectory_id, LocalSlamSubscriptionCallback callback) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
local_slam_subscriptions_[trajectory_id].emplace(current_subscription_index_,
callback);
return SubscriptionId{trajectory_id, current_subscription_index_++};
}
void MapBuilderServer::UnsubscribeLocalSlamResults(
const SubscriptionId& subscription_id) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
CHECK_EQ(local_slam_subscriptions_[subscription_id.trajectory_id].erase(
subscription_id.subscription_index),
1u);
}
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} // namespace cartographer_grpc