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/proto/map_builder_server_options.pb.h"
namespace cartographer_grpc {
class MapBuilderServer {
public:
struct LocalSlamResult {
int trajectory_id;
cartographer::common::Time time;
cartographer::transform::Rigid3d local_pose;
std::shared_ptr<const cartographer::sensor::RangeData> range_data;
std::unique_ptr<const cartographer::mapping::TrajectoryBuilderInterface::
InsertionResult>
insertion_result;
};
// Calling with 'nullptr' signals subscribers that the subscription has ended.
using LocalSlamSubscriptionCallback =
std::function<void(std::unique_ptr<LocalSlamResult>)>;
struct Data {
int trajectory_id;
std::unique_ptr<cartographer::sensor::Data> data;
};
struct SubscriptionId {
const int trajectory_id;
const int subscription_index;
};
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class MapBuilderContext : public framework::ExecutionContext {
public:
MapBuilderContext(MapBuilderServer* map_builder_server);
cartographer::mapping::MapBuilderInterface& map_builder();
cartographer::common::BlockingQueue<std::unique_ptr<Data>>&
sensor_data_queue();
cartographer::mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
GetLocalSlamResultCallbackForSubscriptions();
void AddSensorDataToTrajectory(const Data& sensor_data);
SubscriptionId SubscribeLocalSlamResults(
int trajectory_id, LocalSlamSubscriptionCallback callback);
void UnsubscribeLocalSlamResults(const SubscriptionId& subscription_id);
void NotifyFinishTrajectory(int trajectory_id);
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
ProcessLocalSlamResultData(
const std::string& sensor_id, cartographer::common::Time time,
const cartographer::mapping::proto::LocalSlamResultData& proto);
template <typename DataType>
void EnqueueSensorData(int trajectory_id, const std::string& sensor_id,
const DataType& data) {
map_builder_server_->incoming_data_queue_.Push(
cartographer::common::make_unique<MapBuilderServer::Data>(
MapBuilderServer::Data{
trajectory_id,
cartographer::sensor::MakeDispatchable(sensor_id, data)}));
}
void EnqueueLocalSlamResultData(
int trajectory_id, const std::string& sensor_id,
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
local_slam_result_data) {
map_builder_server_->incoming_data_queue_.Push(
cartographer::common::make_unique<MapBuilderServer::Data>(
MapBuilderServer::Data{trajectory_id,
std::move(local_slam_result_data)}));
}
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private:
std::shared_ptr<cartographer::mapping_2d::Submap> UpdateSubmap2D(
const cartographer::mapping::proto::Submap& proto);
std::shared_ptr<cartographer::mapping_3d::Submap> UpdateSubmap3D(
const cartographer::mapping::proto::Submap& proto);
MapBuilderServer* map_builder_server_;
cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
std::shared_ptr<cartographer::mapping::Submap>>
unfinished_submaps_;
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};
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 and the SLAM thread.
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();
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// Shuts down the gRPC server and the SLAM thread.
void Shutdown();
private:
using LocalSlamResultHandlerSubscriptions =
std::map<int /* subscription_index */, 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);
SubscriptionId SubscribeLocalSlamResults(
int trajectory_id, LocalSlamSubscriptionCallback callback);
void UnsubscribeLocalSlamResults(const 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<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_);
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};
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H