99 lines
3.4 KiB
C++
99 lines
3.4 KiB
C++
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/*
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* Copyright 2017 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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#include "cartographer_grpc/mapping/map_builder_stub.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace mapping {
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MapBuilderStub::MapBuilderStub(const std::string& server_address)
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: client_channel_(grpc::CreateChannel(server_address,
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grpc::InsecureChannelCredentials())),
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service_stub_(proto::MapBuilderService::NewStub(client_channel_)),
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pose_graph_stub_(client_channel_, service_stub_.get()) {}
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int MapBuilderStub::AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) {
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proto::AddTrajectoryRequest request;
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proto::AddTrajectoryResponse result;
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*request.mutable_trajectory_builder_options() = trajectory_options;
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for (const auto& sensor_id : expected_sensor_ids) {
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*request.add_expected_sensor_ids() = sensor_id;
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}
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grpc::Status status =
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service_stub_->AddTrajectory(&client_context_, request, &result);
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CHECK(status.ok());
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// Construct trajectory builder stub.
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trajectory_builder_stubs_.emplace(
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std::piecewise_construct, std::forward_as_tuple(result.trajectory_id()),
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std::forward_as_tuple(cartographer::common::make_unique<
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cartographer_grpc::mapping::TrajectoryBuilderStub>(
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client_channel_, service_stub_.get())));
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return result.trajectory_id();
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}
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int MapBuilderStub::AddTrajectoryForDeserialization() {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::TrajectoryBuilderInterface*
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MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
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return trajectory_builder_stubs_.at(trajectory_id).get();
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}
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void MapBuilderStub::FinishTrajectory(int trajectory_id) {
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proto::FinishTrajectoryRequest request;
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google::protobuf::Empty response;
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request.set_trajectory_id(trajectory_id);
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grpc::Status status =
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service_stub_->FinishTrajectory(&client_context_, request, &response);
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CHECK(status.ok());
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trajectory_builder_stubs_.erase(trajectory_id);
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}
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std::string MapBuilderStub::SubmapToProto(
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const cartographer::mapping::SubmapId& submap_id,
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cartographer::mapping::proto::SubmapQuery::Response* response) {
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LOG(FATAL) << "Not implemented";
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}
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void MapBuilderStub::SerializeState(
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cartographer::io::ProtoStreamWriter* writer) {
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LOG(FATAL) << "Not implemented";
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}
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void MapBuilderStub::LoadMap(cartographer::io::ProtoStreamReader* reader) {
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LOG(FATAL) << "Not implemented";
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}
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int MapBuilderStub::num_trajectory_builders() const {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::PoseGraphInterface* MapBuilderStub::pose_graph() {
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return &pose_graph_stub_;
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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