cartographer/cartographer_grpc/map_builder_server.cc

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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.
*/
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#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/get_all_submap_poses.h"
#include "cartographer_grpc/handlers/get_constraints_handler.h"
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
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#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/sensor/serialization.h"
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#include "glog/logging.h"
namespace cartographer_grpc {
namespace {
const cartographer::common::Duration kPopTimeout =
cartographer::common::FromMilliseconds(100);
} // namespace
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MapBuilderServer::MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder)
: map_builder_(std::move(map_builder)) {
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framework::Server::Builder server_builder;
server_builder.SetServerAddress(map_builder_server_options.server_address());
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server_builder.SetNumGrpcThreads(
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map_builder_server_options.num_grpc_threads());
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server_builder.SetNumEventThreads(
map_builder_server_options.num_event_threads());
if (!map_builder_server_options.uplink_server_address().empty()) {
local_trajectory_uploader_ =
cartographer::common::make_unique<LocalTrajectoryUploader>(
map_builder_server_options.uplink_server_address());
}
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server_builder.RegisterHandler<handlers::AddTrajectoryHandler>();
server_builder.RegisterHandler<handlers::AddOdometryDataHandler>();
server_builder.RegisterHandler<handlers::AddImuDataHandler>();
server_builder.RegisterHandler<handlers::AddRangefinderDataHandler>();
server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler>();
server_builder.RegisterHandler<handlers::AddLandmarkDataHandler>();
server_builder.RegisterHandler<handlers::AddLocalSlamResultDataHandler>();
server_builder.RegisterHandler<handlers::FinishTrajectoryHandler>();
server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler>();
server_builder.RegisterHandler<handlers::GetSubmapHandler>();
server_builder.RegisterHandler<handlers::GetTrajectoryNodePosesHandler>();
server_builder.RegisterHandler<handlers::GetAllSubmapPosesHandler>();
server_builder.RegisterHandler<handlers::GetLocalToGlobalTransformHandler>();
server_builder.RegisterHandler<handlers::GetConstraintsHandler>();
server_builder.RegisterHandler<handlers::LoadMapHandler>();
server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler>();
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server_builder.RegisterHandler<handlers::WriteMapHandler>();
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grpc_server_ = server_builder.Build();
grpc_server_->SetExecutionContext(
cartographer::common::make_unique<MapBuilderContext>(this));
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}
void MapBuilderServer::Start() {
shutting_down_ = false;
if (local_trajectory_uploader_) {
local_trajectory_uploader_->Start();
}
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StartSlamThread();
grpc_server_->Start();
}
void MapBuilderServer::WaitForShutdown() {
grpc_server_->WaitForShutdown();
if (slam_thread_) {
slam_thread_->join();
}
if (local_trajectory_uploader_) {
local_trajectory_uploader_->Shutdown();
}
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}
void MapBuilderServer::Shutdown() {
shutting_down_ = true;
grpc_server_->Shutdown();
if (slam_thread_) {
slam_thread_->join();
}
}
void MapBuilderServer::ProcessSensorDataQueue() {
LOG(INFO) << "Starting SLAM thread.";
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while (!shutting_down_) {
std::unique_ptr<MapBuilderContextInterface::Data> sensor_data =
incoming_data_queue_.PopWithTimeout(kPopTimeout);
if (sensor_data) {
grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
*sensor_data);
}
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}
}
void MapBuilderServer::StartSlamThread() {
CHECK(!slam_thread_);
// Start the SLAM processing thread.
slam_thread_ = cartographer::common::make_unique<std::thread>(
[this]() { this->ProcessSensorDataQueue(); });
}
void MapBuilderServer::OnLocalSlamResult(
int trajectory_id, cartographer::common::Time time,
cartographer::transform::Rigid3d local_pose,
cartographer::sensor::RangeData range_data,
std::unique_ptr<const cartographer::mapping::TrajectoryBuilderInterface::
InsertionResult>
insertion_result) {
auto shared_range_data =
std::make_shared<cartographer::sensor::RangeData>(std::move(range_data));
// If there is an uplink server and a submap insertion happened, enqueue this
// local SLAM result for uploading.
if (insertion_result &&
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()) {
auto data_request = cartographer::common::make_unique<
proto::AddLocalSlamResultDataRequest>();
auto sensor_id = grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()
->GetLocalSlamResultSensorId(trajectory_id);
sensor::CreateAddLocalSlamResultDataRequest(
sensor_id.id, trajectory_id, time, starting_submap_index_,
*insertion_result, data_request.get());
// TODO(cschuet): Make this more robust.
if (insertion_result->insertion_submaps.front()->finished()) {
++starting_submap_index_;
}
grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
->local_trajectory_uploader()
->EnqueueDataRequest(std::move(data_request));
}
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
auto copy_of_insertion_result =
insertion_result
? cartographer::common::make_unique<
const cartographer::mapping::TrajectoryBuilderInterface::
InsertionResult>(*insertion_result)
: nullptr;
MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
entry.second;
callback(cartographer::common::make_unique<
MapBuilderContextInterface::LocalSlamResult>(
MapBuilderContextInterface::LocalSlamResult{
trajectory_id, time, local_pose, shared_range_data,
std::move(copy_of_insertion_result)}));
}
}
MapBuilderContextInterface::SubscriptionId
MapBuilderServer::SubscribeLocalSlamResults(
int trajectory_id,
MapBuilderContextInterface::LocalSlamSubscriptionCallback callback) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
local_slam_subscriptions_[trajectory_id].emplace(current_subscription_index_,
callback);
return MapBuilderContextInterface::SubscriptionId{
trajectory_id, current_subscription_index_++};
}
void MapBuilderServer::UnsubscribeLocalSlamResults(
const MapBuilderContextInterface::SubscriptionId& subscription_id) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
CHECK_EQ(local_slam_subscriptions_[subscription_id.trajectory_id].erase(
subscription_id.subscription_index),
1u);
}
void MapBuilderServer::NotifyFinishTrajectory(int trajectory_id) {
cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
entry.second;
// 'nullptr' signals subscribers that the trajectory finished.
callback(nullptr);
}
}
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void MapBuilderServer::WaitUntilIdle() {
incoming_data_queue_.WaitUntilEmpty();
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map_builder_->pose_graph()->RunFinalOptimization();
}
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} // namespace cartographer_grpc