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_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_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/get_all_submap_poses.h"
#include "cartographer_grpc/handlers/get_constraints_handler.h"
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
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#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::Data>>&
MapBuilderServer::MapBuilderContext::sensor_data_queue() {
return map_builder_server_->incoming_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::
TrajectoryBuilderInterface::InsertionResult>
insertion_result) {
map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
std::move(range_data),
std::move(insertion_result));
};
}
void MapBuilderServer::MapBuilderContext::AddSensorDataToTrajectory(
const Data& sensor_data) {
sensor_data.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);
}
void MapBuilderServer::MapBuilderContext::NotifyFinishTrajectory(
int trajectory_id) {
map_builder_server_->NotifyFinishTrajectory(trajectory_id);
}
std::shared_ptr<cartographer::mapping_2d::Submap>
MapBuilderServer::MapBuilderContext::UpdateSubmap2D(
const cartographer::mapping::proto::Submap& proto) {
CHECK(proto.has_submap_2d());
cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
proto.submap_id().submap_index()};
std::shared_ptr<cartographer::mapping_2d::Submap> submap_2d_ptr;
auto submap_it = unfinished_submaps_.find(submap_id);
if (submap_it == unfinished_submaps_.end()) {
// Seeing a submap for the first time it should never be finished.
CHECK(!proto.submap_2d().finished());
submap_2d_ptr =
std::make_shared<cartographer::mapping_2d::Submap>(proto.submap_2d());
unfinished_submaps_.Insert(submap_id, submap_2d_ptr);
} else {
submap_2d_ptr = std::dynamic_pointer_cast<cartographer::mapping_2d::Submap>(
submap_it->data);
CHECK(submap_2d_ptr);
submap_2d_ptr->UpdateFromProto(proto);
// If the submap was just finished by the recent update, remove it from the
// list of unfinished submaps.
if (submap_2d_ptr->finished()) {
unfinished_submaps_.Trim(submap_id);
} else {
// If the submap is unfinished set the 'num_range_data' to 0 since we
// haven't changed the HybridGrid.
submap_2d_ptr->SetNumRangeData(0);
}
}
return submap_2d_ptr;
}
std::shared_ptr<cartographer::mapping_3d::Submap>
MapBuilderServer::MapBuilderContext::UpdateSubmap3D(
const cartographer::mapping::proto::Submap& proto) {
CHECK(proto.has_submap_3d());
cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
proto.submap_id().submap_index()};
std::shared_ptr<cartographer::mapping_3d::Submap> submap_3d_ptr;
auto submap_it = unfinished_submaps_.find(submap_id);
if (submap_it == unfinished_submaps_.end()) {
// Seeing a submap for the first time it should never be finished.
CHECK(!proto.submap_3d().finished());
submap_3d_ptr =
std::make_shared<cartographer::mapping_3d::Submap>(proto.submap_3d());
unfinished_submaps_.Insert(submap_id, submap_3d_ptr);
submap_it = unfinished_submaps_.find(submap_id);
} else {
submap_3d_ptr = std::dynamic_pointer_cast<cartographer::mapping_3d::Submap>(
submap_it->data);
CHECK(submap_3d_ptr);
// Update submap with information in incoming request.
submap_3d_ptr->UpdateFromProto(proto);
// If the submap was just finished by the recent update, remove it from the
// list of unfinished submaps.
if (submap_3d_ptr->finished()) {
unfinished_submaps_.Trim(submap_id);
} else {
// If the submap is unfinished set the 'num_range_data' to 0 since we
// haven't changed the HybridGrid.
submap_3d_ptr->SetNumRangeData(0);
}
}
return submap_3d_ptr;
}
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
MapBuilderServer::MapBuilderContext::ProcessLocalSlamResultData(
const std::string& sensor_id, cartographer::common::Time time,
const cartographer::mapping::proto::LocalSlamResultData& proto) {
CHECK_GE(proto.submaps().size(), 1);
CHECK(proto.submaps(0).has_submap_2d() || proto.submaps(0).has_submap_3d());
if (proto.submaps(0).has_submap_2d()) {
std::vector<std::shared_ptr<const cartographer::mapping_2d::Submap>>
submaps;
for (const auto& submap_proto : proto.submaps()) {
submaps.push_back(UpdateSubmap2D(submap_proto));
}
return cartographer::common::make_unique<
cartographer::mapping::LocalSlamResult2D>(
sensor_id, time,
std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
cartographer::mapping::FromProto(proto.node_data())),
submaps);
} else {
std::vector<std::shared_ptr<const cartographer::mapping_3d::Submap>>
submaps;
for (const auto& submap_proto : proto.submaps()) {
submaps.push_back(UpdateSubmap3D(submap_proto));
}
return cartographer::common::make_unique<
cartographer::mapping::LocalSlamResult3D>(
sensor_id, time,
std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
cartographer::mapping::FromProto(proto.node_data())),
std::move(submaps));
}
}
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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());
if (!map_builder_server_options.uplink_server_address().empty()) {
local_trajectory_uploader_ =
cartographer::common::make_unique<LocalTrajectoryUploader>(
map_builder_server_options.uplink_server_address());
}
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::AddLandmarkDataHandler,
proto::MapBuilderService>("AddLandmarkData");
server_builder.RegisterHandler<handlers::AddLocalSlamResultDataHandler,
proto::MapBuilderService>(
"AddLocalSlamResultData");
server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
proto::MapBuilderService>("FinishTrajectory");
server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler,
proto::MapBuilderService>(
"ReceiveLocalSlamResults");
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server_builder
.RegisterHandler<handlers::GetSubmapHandler, proto::MapBuilderService>(
"GetSubmap");
server_builder.RegisterHandler<handlers::GetTrajectoryNodePosesHandler,
proto::MapBuilderService>(
"GetTrajectoryNodePoses");
server_builder.RegisterHandler<handlers::GetAllSubmapPosesHandler,
proto::MapBuilderService>("GetAllSubmapPoses");
server_builder.RegisterHandler<handlers::GetLocalToGlobalTransformHandler,
proto::MapBuilderService>(
"GetLocalToGlobalTransform");
server_builder.RegisterHandler<handlers::GetConstraintsHandler,
proto::MapBuilderService>("GetConstraints");
server_builder
.RegisterHandler<handlers::LoadMapHandler, proto::MapBuilderService>(
"LoadMap");
server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler,
proto::MapBuilderService>(
"RunFinalOptimization");
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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;
if (local_trajectory_uploader_) {
local_trajectory_uploader_->Start();
}
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StartSlamThread();
grpc_server_->Start();
}
void MapBuilderServer::WaitForShutdown() {
grpc_server_->WaitForShutdown();
if (slam_thread_) {
slam_thread_->join();
}
if (local_trajectory_uploader_) {
local_trajectory_uploader_->Shutdown();
}
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}
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<Data> sensor_data =
incoming_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::TrajectoryBuilderInterface::
InsertionResult>
insertion_result) {
auto shared_range_data =
std::make_shared<cartographer::sensor::RangeData>(std::move(range_data));
// If there is an uplink server and a submap insertion happened, enqueue this
// local SLAM result for uploading.
if (insertion_result &&
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()) {
auto data_request = cartographer::common::make_unique<
proto::AddLocalSlamResultDataRequest>();
auto sensor_id = grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()
->GetLocalSlamResultSensorId(trajectory_id);
sensor::CreateAddLocalSlamResultDataRequest(
sensor_id.id, trajectory_id, time, starting_submap_index_,
*insertion_result, data_request.get());
// TODO(cschuet): Make this more robust.
if (insertion_result->insertion_submaps.front()->finished()) {
++starting_submap_index_;
}
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()
->EnqueueDataRequest(std::move(data_request));
}
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
auto copy_of_insertion_result =
insertion_result
? cartographer::common::make_unique<
const cartographer::mapping::TrajectoryBuilderInterface::
InsertionResult>(*insertion_result)
: nullptr;
LocalSlamSubscriptionCallback callback = entry.second;
callback(cartographer::common::make_unique<LocalSlamResult>(
LocalSlamResult{trajectory_id, time, local_pose, shared_range_data,
std::move(copy_of_insertion_result)}));
}
}
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);
}
void MapBuilderServer::NotifyFinishTrajectory(int trajectory_id) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
LocalSlamSubscriptionCallback callback = entry.second;
// 'nullptr' signals subscribers that the trajectory finished.
callback(nullptr);
}
}
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void MapBuilderServer::WaitUntilIdle() {
incoming_data_queue_.WaitUntilEmpty();
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map_builder_->pose_graph()->RunFinalOptimization();
}
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} // namespace cartographer_grpc