cartographer/cartographer_grpc/internal/handlers/get_submap_handler.cc

/*
 * 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/get_submap_handler.h"

#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"

namespace cartographer_grpc {
namespace handlers {

void GetSubmapHandler::OnRequest(const proto::GetSubmapRequest &request) {
  auto response = cartographer::common::make_unique<proto::GetSubmapResponse>();
  response->set_error_msg(
      GetContext<MapBuilderContextInterface>()->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