cartographer/cartographer_grpc/internal/handlers/write_state_handler.cc

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/*
* 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.
*/
#include "cartographer_grpc/internal/handlers/write_state_handler.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc {
namespace handlers {
void WriteStateHandler::OnRequest(const google::protobuf::Empty& request) {
auto writer = GetWriter();
cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
[writer](const google::protobuf::Message* proto) {
if (!proto) {
writer.WritesDone();
return true;
}
auto response =
cartographer::common::make_unique<proto::WriteStateResponse>();
if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
response->mutable_pose_graph()->CopyFrom(*proto);
} else if (proto->GetTypeName() ==
"cartographer.mapping.proto.AllTrajectoryBuilderOptions") {
response->mutable_all_trajectory_builder_options()->CopyFrom(*proto);
} else if (proto->GetTypeName() ==
"cartographer.mapping.proto.SerializedData") {
response->mutable_serialized_data()->CopyFrom(*proto);
} else {
LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
}
writer.Write(std::move(response));
return true;
});
GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
&proto_stream_writer);
}
} // namespace handlers
} // namespace cartographer_grpc