cartographer/cartographer_grpc/map_builder_server.h

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/*
* 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.
*/
#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
#include "cartographer/common/blocking_queue.h"
#include "cartographer/common/time.h"
#include "cartographer/mapping/local_slam_result_data.h"
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#include "cartographer/mapping/map_builder.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/dispatchable.h"
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#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/server.h"
#include "cartographer_grpc/local_trajectory_uploader.h"
#include "cartographer_grpc/map_builder_context.h"
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#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
namespace cartographer_grpc {
class MapBuilderServer {
public:
friend MapBuilderContext;
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MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder);
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// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
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void Start();
// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
// either shutting down or some other thread must call 'Shutdown()' for this
// function to ever return.
void WaitForShutdown();
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// Waits until all computation is finished (for testing).
void WaitUntilIdle();
// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
// thread.
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void Shutdown();
private:
using LocalSlamResultHandlerSubscriptions =
std::map<int /* subscription_index */,
MapBuilderContextInterface::LocalSlamSubscriptionCallback>;
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void ProcessSensorDataQueue();
void StartSlamThread();
void OnLocalSlamResult(
int trajectory_id, cartographer::common::Time time,
cartographer::transform::Rigid3d local_pose,
cartographer::sensor::RangeData range_data,
std::unique_ptr<const cartographer::mapping::TrajectoryBuilderInterface::
InsertionResult>
insertion_result);
MapBuilderContextInterface::SubscriptionId SubscribeLocalSlamResults(
int trajectory_id,
MapBuilderContextInterface::LocalSlamSubscriptionCallback callback);
void UnsubscribeLocalSlamResults(
const MapBuilderContextInterface::SubscriptionId& subscription_id);
void NotifyFinishTrajectory(int trajectory_id);
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bool shutting_down_ = false;
std::unique_ptr<std::thread> slam_thread_;
std::unique_ptr<framework::Server> grpc_server_;
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder_;
cartographer::common::BlockingQueue<
std::unique_ptr<MapBuilderContextInterface::Data>>
incoming_data_queue_;
cartographer::common::Mutex local_slam_subscriptions_lock_;
int current_subscription_index_ = 0;
std::map<int /* trajectory ID */, LocalSlamResultHandlerSubscriptions>
local_slam_subscriptions_ GUARDED_BY(local_slam_subscriptions_lock_);
std::unique_ptr<LocalTrajectoryUploader> local_trajectory_uploader_;
int starting_submap_index_ = 0;
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};
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H