cartographer/cartographer_grpc/handlers/get_submap_handler.h

/*
 * Copyright 2018 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_GET_SUBMAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_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 "google/protobuf/empty.pb.h"

namespace cartographer_grpc {
namespace handlers {

class GetSubmapHandler
    : public framework::RpcHandler<proto::GetSubmapRequest,
                                   proto::GetSubmapResponse> {
 public:
  std::string method_name() const override {
    return "/cartographer_grpc.proto.MapBuilderService/GetSubmap";
  }
  void OnRequest(const proto::GetSubmapRequest &request) override {
    auto response =
        cartographer::common::make_unique<proto::GetSubmapResponse>();
    response->set_error_msg(GetContext<MapBuilderServer::MapBuilderContext>()
                                ->map_builder()
                                .SubmapToProto(
                                    cartographer::mapping::SubmapId{
                                        request.submap_id().trajectory_id(),
                                        request.submap_id().submap_index()},
                                    response->mutable_submap_query_response()));
    Send(std::move(response));
  }
};

}  // namespace handlers
}  // namespace cartographer_grpc

#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H