2018-01-11 17:19:37 +08:00
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/*
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* Copyright 2018 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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2018-01-15 22:31:33 +08:00
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#ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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2018-01-11 17:19:37 +08:00
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2018-01-17 19:01:29 +08:00
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#include <memory>
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2018-01-26 22:07:49 +08:00
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#include <set>
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2018-01-11 17:19:37 +08:00
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#include <string>
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2018-01-13 06:16:29 +08:00
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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2018-01-26 22:07:49 +08:00
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#include "cartographer/mapping/trajectory_builder_interface.h"
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2018-01-11 17:19:37 +08:00
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2018-03-03 06:21:28 +08:00
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namespace cartographer {
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namespace cloud {
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2018-01-11 17:19:37 +08:00
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2018-02-01 20:05:08 +08:00
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class LocalTrajectoryUploaderInterface {
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2018-01-11 17:19:37 +08:00
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public:
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2018-03-03 06:21:28 +08:00
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using SensorId = mapping::TrajectoryBuilderInterface::SensorId;
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2018-01-26 22:07:49 +08:00
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2018-02-01 20:05:08 +08:00
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virtual ~LocalTrajectoryUploaderInterface() = default;
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2018-03-02 18:38:35 +08:00
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// Starts the upload thread.
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virtual void Start() = 0;
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// Shuts down the upload thread. This method blocks until the shutdown is
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// complete.
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virtual void Shutdown() = 0;
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2018-02-01 20:05:08 +08:00
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// Enqueue an Add*DataRequest message to be uploaded.
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virtual void EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) = 0;
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virtual void AddTrajectory(
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int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
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2018-03-03 06:21:28 +08:00
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const mapping::proto::TrajectoryBuilderOptions& trajectory_options) = 0;
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2018-02-01 20:05:08 +08:00
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virtual void FinishTrajectory(int local_trajectory_id) = 0;
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virtual SensorId GetLocalSlamResultSensorId(
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int local_trajectory_id) const = 0;
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};
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2018-03-02 18:38:35 +08:00
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// Returns LocalTrajectoryUploader with the actual implementation.
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std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
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const std::string& uplink_server_address);
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2018-01-11 17:19:37 +08:00
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2018-03-03 06:21:28 +08:00
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} // namespace cloud
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} // namespace cartographer
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2018-01-11 17:19:37 +08:00
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2018-01-15 22:31:33 +08:00
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#endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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