cartographer/cartographer_grpc/mapping/trajectory_builder_stub.h

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/*
* 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_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#include <thread>
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/framework/client_writer.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace mapping {
class TrajectoryBuilderStub
: public cartographer::mapping::TrajectoryBuilderInterface {
public:
TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
const int trajectory_id,
LocalSlamResultCallback local_slam_result_callback);
~TrajectoryBuilderStub() override;
TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData&
timed_point_cloud_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) override;
void AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData&
fixed_frame_pose) override;
void AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::LandmarkData& landmark_data) override;
void AddLocalSlamResultData(
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
local_slam_result_data) override;
private:
struct LocalSlamResultReader {
grpc::ClientContext client_context;
std::unique_ptr<grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>>
client_reader;
std::unique_ptr<std::thread> thread;
};
static void RunLocalSlamResultReader(
grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>* client_reader,
LocalSlamResultCallback local_slam_result_callback);
std::shared_ptr<grpc::Channel> client_channel_;
const int trajectory_id_;
std::unique_ptr<proto::MapBuilderService::Stub> stub_;
framework::ClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
fixed_frame_writer_;
framework::ClientWriter<proto::AddLandmarkDataRequest> landmark_writer_;
LocalSlamResultReader local_slam_result_reader_;
};
} // namespace mapping
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_