cartographer/cartographer_grpc/handlers/add_trajectory_handler.h

/*
 * 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.
 */

#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H

#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"

namespace cartographer_grpc {
namespace handlers {

class AddTrajectoryHandler
    : public framework::RpcHandler<proto::AddTrajectoryRequest,
                                   proto::AddTrajectoryResponse> {
 public:
  void OnRequest(const proto::AddTrajectoryRequest& request) override {
    auto local_slam_result_callback =
        GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
            ->GetLocalSlamResultCallbackForSubscriptions();
    std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
        expected_sensor_ids;
    for (const auto& sensor_id : request.expected_sensor_ids()) {
      expected_sensor_ids.insert(sensor::FromProto(sensor_id));
    }
    const int trajectory_id =
        GetContext<MapBuilderServer::MapBuilderContext>()
            ->map_builder()
            .AddTrajectoryBuilder(expected_sensor_ids,
                                  request.trajectory_builder_options(),
                                  local_slam_result_callback);
    if (GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
            ->local_trajectory_uploader()) {
      auto trajectory_builder_options = request.trajectory_builder_options();

      // Clear the trajectory builder options to convey to the cloud
      // Cartographer instance that does not need to instantiate a
      // 'LocalTrajectoryBuilder'.
      trajectory_builder_options.clear_trajectory_builder_2d_options();
      trajectory_builder_options.clear_trajectory_builder_3d_options();

      GetContext<MapBuilderServer::MapBuilderContext>()
          ->local_trajectory_uploader()
          ->AddTrajectory(trajectory_id, expected_sensor_ids,
                          trajectory_builder_options);
    }

    auto response =
        cartographer::common::make_unique<proto::AddTrajectoryResponse>();
    response->set_trajectory_id(trajectory_id);
    Send(std::move(response));
  }
};

}  // namespace handlers
}  // namespace cartographer_grpc

#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H