cartographer/cartographer_grpc/local_trajectory_uploader.h

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/*
* 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.
*/
#ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
#include <map>
#include <memory>
#include <set>
#include <string>
#include <thread>
#include "cartographer/common/blocking_queue.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/framework/client_writer.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
class LocalTrajectoryUploader {
public:
using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
LocalTrajectoryUploader(const std::string& uplink_server_address);
~LocalTrajectoryUploader();
// Starts the upload thread.
void Start();
// Shuts down the upload thread. This method blocks until the shutdown is
// complete.
void Shutdown();
void AddTrajectory(
int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options);
void FinishTrajectory(int local_trajectory_id);
// Enqueue an Add*DataRequest message to be uploaded.
void EnqueueDataRequest(
std::unique_ptr<google::protobuf::Message> data_request);
SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const {
return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
"local_slam_result_" + std::to_string(local_trajectory_id)};
}
private:
void ProcessSendQueue();
void TranslateTrajectoryId(proto::SensorMetadata* sensor_metadata);
void ProcessFixedFramePoseDataMessage(
proto::AddFixedFramePoseDataRequest* data_request);
void ProcessImuDataMessage(proto::AddImuDataRequest* data_request);
void ProcessLocalSlamResultDataMessage(
proto::AddLocalSlamResultDataRequest* data_request);
void ProcessOdometryDataMessage(proto::AddOdometryDataRequest* data_request);
std::shared_ptr<grpc::Channel> client_channel_;
std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
std::map<int, int> local_to_cloud_trajectory_id_map_;
cartographer::common::BlockingQueue<
std::unique_ptr<google::protobuf::Message>>
send_queue_;
bool shutting_down_ = false;
std::unique_ptr<std::thread> upload_thread_;
framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
fixed_frame_pose_writer_;
framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
framework::ClientWriter<proto::AddLocalSlamResultDataRequest>
local_slam_result_writer_;
framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
};
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H