55 lines
1.9 KiB
C
55 lines
1.9 KiB
C
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
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#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
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#include <memory>
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
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namespace cartographer_grpc {
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class MapBuilderServerInterface {
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public:
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virtual ~MapBuilderServerInterface() {}
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// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
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virtual void Start() = 0;
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// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
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// either shutting down or some other thread must call 'Shutdown()' for
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// this function to ever return.
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virtual void WaitForShutdown() = 0;
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// Waits until all computation is finished (for testing).
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virtual void WaitUntilIdle() = 0;
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// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
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// thread.
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virtual void Shutdown() = 0;
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};
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// Returns MapBuilderServer with the actual implementation.
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std::unique_ptr<MapBuilderServerInterface> CreateMapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options,
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std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder);
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
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