cartographer/cartographer_grpc/mapping/map_builder_stub.cc

137 lines
4.9 KiB
C++
Raw Normal View History

/*
* 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,
2018-01-08 20:52:14 +08:00
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) {
2018-02-01 18:21:50 +08:00
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