54 lines
2.0 KiB
C
54 lines
2.0 KiB
C
|
/*
|
||
|
|
* 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_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
|
||
|
|
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
|
||
|
|
|
||
|
|
#include "cartographer/common/make_unique.h"
|
||
|
|
#include "cartographer_grpc/framework/rpc_handler.h"
|
||
|
|
#include "cartographer_grpc/map_builder_server.h"
|
||
|
|
#include "cartographer_grpc/proto/map_builder_service.pb.h"
|
||
|
|
#include "google/protobuf/empty.pb.h"
|
||
|
|
|
||
|
|
namespace cartographer_grpc {
|
||
|
|
namespace handlers {
|
||
|
|
|
||
|
|
class AddRangefinderDataHandler
|
||
|
|
: public framework::RpcHandler<
|
||
|
|
framework::Stream<proto::AddRangefinderDataRequest>,
|
||
|
|
google::protobuf::Empty> {
|
||
|
|
public:
|
||
|
|
void OnRequest(const proto::AddRangefinderDataRequest &request) override {
|
||
|
|
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
|
||
|
|
// thread-safe. Therefore it suffices to get an unsynchronized reference to
|
||
|
|
// the 'MapBuilderContext'.
|
||
|
|
GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
|
||
|
|
->EnqueueSensorData(
|
||
|
|
request.sensor_metadata().trajectory_id(),
|
||
|
|
request.sensor_metadata().sensor_id(),
|
||
|
|
cartographer::sensor::FromProto(request.timed_point_cloud_data()));
|
||
|
|
}
|
||
|
|
|
||
|
|
void OnReadsDone() {
|
||
|
|
Send(cartographer::common::make_unique<google::protobuf::Empty>());
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace handlers
|
||
|
|
} // namespace cartographer_grpc
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
|