cartographer/cartographer_grpc/handlers/receive_local_slam_results_...

48 lines
1.6 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.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#include <memory>
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc {
namespace handlers {
class ReceiveLocalSlamResultsHandler
: public framework::RpcHandler<
proto::ReceiveLocalSlamResultsRequest,
framework::Stream<proto::ReceiveLocalSlamResultsResponse>> {
public:
2018-01-31 19:26:56 +08:00
std::string method_name() const override {
return "/cartographer_grpc.proto.MapBuilderService/ReceiveLocalSlamResults";
}
void OnRequest(const proto::ReceiveLocalSlamResultsRequest& request) override;
void OnFinish() override;
private:
std::unique_ptr<MapBuilderContextInterface::SubscriptionId> subscription_id_;
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H