58 lines
2.2 KiB
C
58 lines
2.2 KiB
C
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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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#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class AddLocalSlamResultDataHandler
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: public framework::RpcHandler<
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framework::Stream<proto::AddLocalSlamResultDataRequest>,
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google::protobuf::Empty> {
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public:
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void OnRequest(const proto::AddLocalSlamResultDataRequest& request) override {
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auto local_slam_result_data =
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GetContext<MapBuilderServer::MapBuilderContext>()
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->ProcessLocalSlamResultData(
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request.sensor_metadata().sensor_id(),
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cartographer::common::FromUniversal(
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request.local_slam_result_data().timestamp()),
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request.local_slam_result_data());
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GetContext<MapBuilderServer::MapBuilderContext>()
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->EnqueueLocalSlamResultData(request.sensor_metadata().trajectory_id(),
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request.sensor_metadata().sensor_id(),
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std::move(local_slam_result_data));
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}
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void OnReadsDone() override {
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
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