cartographer/cartographer_grpc/map_builder_server_main.cc

80 lines
3.0 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.
*/
#include "cartographer/metrics/register.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/map_builder_server_options.h"
#include "gflags/gflags.h"
#include "glog/logging.h"
#if USE_PROMETHEUS
#include "cartographer_grpc/metrics/prometheus/family_factory.h"
#include "prometheus/exposer.h"
#endif
DEFINE_string(configuration_directory, "",
"First directory in which configuration files are searched, "
"second is always the Cartographer installation to allow "
"including files from there.");
DEFINE_string(configuration_basename, "",
"Basename, i.e. not containing any directory prefix, of the "
"configuration file.");
namespace cartographer_grpc {
void Run(const std::string& configuration_directory,
const std::string& configuration_basename) {
#if USE_PROMETHEUS
metrics::prometheus::FamilyFactory registry;
cartographer::metrics::RegisterAllMetrics(&registry);
::prometheus::Exposer exposer("0.0.0.0:9100");
exposer.RegisterCollectable(registry.GetCollectable());
LOG(INFO) << "Exposing metrics at http://localhost:9100/metrics";
#endif
proto::MapBuilderServerOptions map_builder_server_options =
LoadMapBuilderServerOptions(configuration_directory,
configuration_basename);
// TODO(gaschler): Remove this override when parameter is imported from lua
// config.
map_builder_server_options.mutable_map_builder_options()
->set_collate_by_trajectory(true);
auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
map_builder_server_options.map_builder_options());
MapBuilderServer map_builder_server(map_builder_server_options,
std::move(map_builder));
map_builder_server.Start();
map_builder_server.WaitForShutdown();
}
} // namespace cartographer_grpc
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[0]);
FLAGS_logtostderr = true;
google::SetUsageMessage(
"\n\n"
"This program offers a MapBuilder service via a gRPC interface.\n");
google::ParseCommandLineFlags(&argc, &argv, true);
if (FLAGS_configuration_directory.empty() ||
FLAGS_configuration_basename.empty()) {
google::ShowUsageWithFlagsRestrict(argv[0], "cartographer_grpc_server");
return EXIT_FAILURE;
}
cartographer_grpc::Run(FLAGS_configuration_directory,
FLAGS_configuration_basename);
}