cartographer/cartographer_grpc/mapping/map_builder_stub.cc

/*
 * 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/map_builder_stub.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 {

MapBuilderStub::MapBuilderStub(const std::string& server_address)
    : client_channel_(grpc::CreateChannel(server_address,
                                          grpc::InsecureChannelCredentials())),
      service_stub_(proto::MapBuilderService::NewStub(client_channel_)),
      pose_graph_stub_(client_channel_, service_stub_.get()) {}

int MapBuilderStub::AddTrajectoryBuilder(
    const std::set<SensorId>& expected_sensor_ids,
    const cartographer::mapping::proto::TrajectoryBuilderOptions&
        trajectory_options,
    LocalSlamResultCallback local_slam_result_callback) {
  grpc::ClientContext client_context;
  proto::AddTrajectoryRequest request;
  proto::AddTrajectoryResponse result;
  *request.mutable_trajectory_builder_options() = trajectory_options;
  for (const auto& sensor_id : expected_sensor_ids) {
    *request.add_expected_sensor_ids() = sensor::ToProto(sensor_id);
  }
  grpc::Status status =
      service_stub_->AddTrajectory(&client_context, request, &result);
  CHECK(status.ok());

  // Construct trajectory builder stub.
  trajectory_builder_stubs_.emplace(
      std::piecewise_construct, std::forward_as_tuple(result.trajectory_id()),
      std::forward_as_tuple(cartographer::common::make_unique<
                            cartographer_grpc::mapping::TrajectoryBuilderStub>(
          client_channel_, result.trajectory_id(),
          local_slam_result_callback)));
  return result.trajectory_id();
}

int MapBuilderStub::AddTrajectoryForDeserialization() {
  LOG(FATAL) << "Not implemented";
}

cartographer::mapping::TrajectoryBuilderInterface*
MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
  return trajectory_builder_stubs_.at(trajectory_id).get();
}

void MapBuilderStub::FinishTrajectory(int trajectory_id) {
  grpc::ClientContext client_context;
  proto::FinishTrajectoryRequest request;
  google::protobuf::Empty response;
  request.set_trajectory_id(trajectory_id);
  grpc::Status status =
      service_stub_->FinishTrajectory(&client_context, request, &response);
  CHECK(status.ok());
  trajectory_builder_stubs_.erase(trajectory_id);
}

std::string MapBuilderStub::SubmapToProto(
    const cartographer::mapping::SubmapId& submap_id,
    cartographer::mapping::proto::SubmapQuery::Response*
        submap_query_response) {
  grpc::ClientContext client_context;
  proto::GetSubmapRequest request;
  submap_id.ToProto(request.mutable_submap_id());
  proto::GetSubmapResponse response;
  CHECK(service_stub_->GetSubmap(&client_context, request, &response).ok());
  submap_query_response->CopyFrom(response.submap_query_response());
  return response.error_msg();
}

void MapBuilderStub::SerializeState(
    cartographer::io::ProtoStreamWriterInterface* writer) {
  grpc::ClientContext client_context;
  google::protobuf::Empty request;
  auto reader = service_stub_->WriteMap(&client_context, request);
  proto::WriteMapResponse response;
  while (reader->Read(&response)) {
    writer->WriteProto(response);
  }
  CHECK(writer->Close());
}

void MapBuilderStub::LoadMap(
    cartographer::io::ProtoStreamReaderInterface* reader) {
  framework::ClientWriter<proto::LoadMapRequest> load_map_writer;
  load_map_writer.client_writer = service_stub_->LoadMap(
      &load_map_writer.client_context, &load_map_writer.response);
  CHECK(load_map_writer.client_writer);

  // Request with a PoseGraph proto is sent first.
  {
    proto::LoadMapRequest request;
    CHECK(reader->ReadProto(request.mutable_pose_graph()));
    CHECK(load_map_writer.client_writer->Write(request));
  }

  // Multiple requests with SerializedData are sent after.
  proto::LoadMapRequest request;
  while (reader->ReadProto(request.mutable_serialized_data())) {
    CHECK(load_map_writer.client_writer->Write(request));
  }

  CHECK(reader->eof());
  CHECK(load_map_writer.client_writer->WritesDone());
}

int MapBuilderStub::num_trajectory_builders() const {
  return trajectory_builder_stubs_.size();
}

cartographer::mapping::PoseGraphInterface* MapBuilderStub::pose_graph() {
  return &pose_graph_stub_;
}

}  // namespace mapping
}  // namespace cartographer_grpc