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Use framework::Client everywhere. (#875) 

This switches all gRPC method invocation to using framework::Client. After this change we can remove the gRPC proto compiler from the build files.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
master
Christoph Schütte 2018-02-01 17:19:15 +01:00 committed by Wally B. Feed
parent 8ea46857ac
commit 302320b1a9
11 changed files with 207 additions and 232 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
cartographer_grpc/framework/client_writer.h
View File

@ -1,38 +0,0 @@
/*
* 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_FRAMEWORK_CLIENT_WRITER_H_
#define CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_WRITER_H_
#include <memory>
#include "google/protobuf/empty.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace framework {
template <typename RequestType>
struct ClientWriter {
grpc::ClientContext client_context;
std::unique_ptr<grpc::ClientWriter<RequestType>> client_writer;
google::protobuf::Empty response;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_WRITER_H_

1
cartographer_grpc/framework/server_test.cc
View File

@ -20,7 +20,6 @@
#include "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/proto/math_service.grpc.pb.h"
#include "cartographer_grpc/framework/proto/math_service.pb.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "glog/logging.h"

106
cartographer_grpc/local_trajectory_uploader.cc
View File

@ -15,8 +15,9 @@
*/
#include "cartographer_grpc/local_trajectory_uploader.h"
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
@ -31,22 +32,29 @@ const cartographer::common::Duration kPopTimeout =
LocalTrajectoryUploader::LocalTrajectoryUploader(
const std::string &uplink_server_address)
: client_channel_(grpc::CreateChannel(uplink_server_address,
grpc::InsecureChannelCredentials())),
service_stub_(proto::MapBuilderService::NewStub(client_channel_)) {}
: client_channel_(grpc::CreateChannel(
uplink_server_address, grpc::InsecureChannelCredentials())) {}
LocalTrajectoryUploader::~LocalTrajectoryUploader() {
if (imu_writer_.client_writer) {
CHECK(imu_writer_.client_writer->WritesDone());
CHECK(imu_writer_.client_writer->Finish().ok());
if (add_imu_client_) {
CHECK(add_imu_client_->WritesDone());
CHECK(add_imu_client_->Finish().ok());
}
if (odometry_writer_.client_writer) {
CHECK(odometry_writer_.client_writer->WritesDone());
CHECK(odometry_writer_.client_writer->Finish().ok());
if (add_odometry_client_) {
CHECK(add_odometry_client_->WritesDone());
CHECK(add_odometry_client_->Finish().ok());
}
if (fixed_frame_pose_writer_.client_writer) {
CHECK(fixed_frame_pose_writer_.client_writer->WritesDone());
CHECK(fixed_frame_pose_writer_.client_writer->Finish().ok());
if (add_fixed_frame_pose_client_) {
CHECK(add_fixed_frame_pose_client_->WritesDone());
CHECK(add_fixed_frame_pose_client_->Finish().ok());
}
if (add_local_slam_result_client_) {
CHECK(add_local_slam_result_client_->WritesDone());
CHECK(add_local_slam_result_client_->Finish().ok());
}
if (add_landmark_client_) {
CHECK(add_landmark_client_->WritesDone());
CHECK(add_landmark_client_->Finish().ok());
}
}
@ -84,6 +92,10 @@ void LocalTrajectoryUploader::ProcessSendQueue() {
dynamic_cast<proto::AddLocalSlamResultDataRequest *>(
data_message.get())) {
ProcessLocalSlamResultDataMessage(local_slam_result_data);
} else if (auto *landmark_data =
dynamic_cast<proto::AddLandmarkDataRequest *>(
data_message.get())) {
ProcessLandmarkDataMessage(landmark_data);
} else {
LOG(FATAL) << "Unknown message type: " << data_message->GetTypeName();
}
@ -100,47 +112,51 @@ void LocalTrajectoryUploader::TranslateTrajectoryId(
void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
proto::AddFixedFramePoseDataRequest *data_request) {
if (!fixed_frame_pose_writer_.client_writer) {
fixed_frame_pose_writer_.client_writer =
service_stub_->AddFixedFramePoseData(
&fixed_frame_pose_writer_.client_context,
&fixed_frame_pose_writer_.response);
CHECK(fixed_frame_pose_writer_.client_writer);
if (!add_fixed_frame_pose_client_) {
add_fixed_frame_pose_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddFixedFramePoseDataHandler>>(
client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
fixed_frame_pose_writer_.client_writer->Write(*data_request);
CHECK(add_fixed_frame_pose_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessImuDataMessage(
proto::AddImuDataRequest *data_request) {
if (!imu_writer_.client_writer) {
imu_writer_.client_writer = service_stub_->AddImuData(
&imu_writer_.client_context, &imu_writer_.response);
CHECK(imu_writer_.client_writer);
if (!add_imu_client_) {
add_imu_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddImuDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
imu_writer_.client_writer->Write(*data_request);
CHECK(add_imu_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessOdometryDataMessage(
proto::AddOdometryDataRequest *data_request) {
if (!odometry_writer_.client_writer) {
odometry_writer_.client_writer = service_stub_->AddOdometryData(
&odometry_writer_.client_context, &odometry_writer_.response);
CHECK(odometry_writer_.client_writer);
if (!add_odometry_client_) {
add_odometry_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
odometry_writer_.client_writer->Write(*data_request);
CHECK(add_odometry_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessLandmarkDataMessage(
proto::AddLandmarkDataRequest *data_request) {
if (!add_landmark_client_) {
add_landmark_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
CHECK(add_landmark_client_->Write(*data_request));
}
void LocalTrajectoryUploader::ProcessLocalSlamResultDataMessage(
proto::AddLocalSlamResultDataRequest *data_request) {
if (!local_slam_result_writer_.client_writer) {
local_slam_result_writer_.client_writer =
service_stub_->AddLocalSlamResultData(
&local_slam_result_writer_.client_context,
&local_slam_result_writer_.response);
CHECK(local_slam_result_writer_.client_writer);
if (!add_local_slam_result_client_) {
add_local_slam_result_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddLocalSlamResultDataHandler>>(
client_channel_);
}
TranslateTrajectoryId(data_request->mutable_sensor_metadata());
// A submap also holds a trajectory id that must be translated to uplink's
@ -150,16 +166,14 @@ void LocalTrajectoryUploader::ProcessLocalSlamResultDataMessage(
mutable_submap.mutable_submap_id()->set_trajectory_id(
data_request->sensor_metadata().trajectory_id());
}
local_slam_result_writer_.client_writer->Write(*data_request);
CHECK(add_local_slam_result_client_->Write(*data_request));
}
void LocalTrajectoryUploader::AddTrajectory(
int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions
&trajectory_options) {
grpc::ClientContext client_context;
proto::AddTrajectoryRequest request;
proto::AddTrajectoryResponse result;
*request.mutable_trajectory_builder_options() = trajectory_options;
for (const SensorId &sensor_id : expected_sensor_ids) {
// Range sensors are not forwarded, but combined into a LocalSlamResult.
@ -169,25 +183,21 @@ void LocalTrajectoryUploader::AddTrajectory(
}
*request.add_expected_sensor_ids() =
sensor::ToProto(GetLocalSlamResultSensorId(local_trajectory_id));
grpc::Status status =
service_stub_->AddTrajectory(&client_context, request, &result);
CHECK(status.ok());
framework::Client<handlers::AddTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
local_to_cloud_trajectory_id_map_[local_trajectory_id] =
result.trajectory_id();
client.response().trajectory_id();
}
void LocalTrajectoryUploader::FinishTrajectory(int local_trajectory_id) {
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 1);
int cloud_trajectory_id =
local_to_cloud_trajectory_id_map_[local_trajectory_id];
grpc::ClientContext client_context;
proto::FinishTrajectoryRequest request;
google::protobuf::Empty response;
request.set_trajectory_id(cloud_trajectory_id);
grpc::Status status =
service_stub_->FinishTrajectory(&client_context, request, &response);
CHECK(status.ok());
framework::Client<handlers::FinishTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
}
void LocalTrajectoryUploader::EnqueueDataRequest(

27
cartographer_grpc/local_trajectory_uploader.h
View File

@ -26,8 +26,13 @@
#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 "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
@ -85,21 +90,25 @@ class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
void ProcessLocalSlamResultDataMessage(
proto::AddLocalSlamResultDataRequest* data_request);
void ProcessOdometryDataMessage(proto::AddOdometryDataRequest* data_request);
void ProcessLandmarkDataMessage(proto::AddLandmarkDataRequest* 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_;
std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
add_fixed_frame_pose_client_;
std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
add_imu_client_;
std::unique_ptr<framework::Client<handlers::AddLocalSlamResultDataHandler>>
add_local_slam_result_client_;
std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
add_odometry_client_;
std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
add_landmark_client_;
};
} // namespace cartographer_grpc

1
cartographer_grpc/map_builder_server.cc
View File

@ -33,7 +33,6 @@
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"

59
cartographer_grpc/mapping/map_builder_stub.cc
View File

@ -15,7 +15,11 @@
*/
#include "cartographer_grpc/mapping/map_builder_stub.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
@ -26,33 +30,30 @@ namespace mapping {
MapBuilderStub::MapBuilderStub(const std::string& server_address)
: client_channel_(grpc::CreateChannel(server_address,
grpc::InsecureChannelCredentials())),
service_stub_(proto::MapBuilderService::NewStub(client_channel_)),
pose_graph_stub_(client_channel_, service_stub_.get()) {}
pose_graph_stub_(client_channel_) {}
int MapBuilderStub::AddTrajectoryBuilder(
const std::set<SensorId>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options,
LocalSlamResultCallback local_slam_result_callback) {
grpc::ClientContext client_context;
proto::AddTrajectoryRequest request;
proto::AddTrajectoryResponse result;
*request.mutable_trajectory_builder_options() = trajectory_options;
for (const auto& sensor_id : expected_sensor_ids) {
*request.add_expected_sensor_ids() = sensor::ToProto(sensor_id);
}
grpc::Status status =
service_stub_->AddTrajectory(&client_context, request, &result);
CHECK(status.ok());
framework::Client<handlers::AddTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
// Construct trajectory builder stub.
trajectory_builder_stubs_.emplace(
std::piecewise_construct, std::forward_as_tuple(result.trajectory_id()),
std::piecewise_construct,
std::forward_as_tuple(client.response().trajectory_id()),
std::forward_as_tuple(cartographer::common::make_unique<
cartographer_grpc::mapping::TrajectoryBuilderStub>(
client_channel_, result.trajectory_id(),
client_channel_, client.response().trajectory_id(),
local_slam_result_callback)));
return result.trajectory_id();
return client.response().trajectory_id();
}
int MapBuilderStub::AddTrajectoryForDeserialization() {
@ -65,13 +66,10 @@ MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
}
void MapBuilderStub::FinishTrajectory(int trajectory_id) {
grpc::ClientContext client_context;
proto::FinishTrajectoryRequest request;
google::protobuf::Empty response;
request.set_trajectory_id(trajectory_id);
grpc::Status status =
service_stub_->FinishTrajectory(&client_context, request, &response);
CHECK(status.ok());
framework::Client<handlers::FinishTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
trajectory_builder_stubs_.erase(trajectory_id);
}
@ -79,22 +77,21 @@ std::string MapBuilderStub::SubmapToProto(
const cartographer::mapping::SubmapId& submap_id,
cartographer::mapping::proto::SubmapQuery::Response*
submap_query_response) {
grpc::ClientContext client_context;
proto::GetSubmapRequest request;
submap_id.ToProto(request.mutable_submap_id());
proto::GetSubmapResponse response;
CHECK(service_stub_->GetSubmap(&client_context, request, &response).ok());
submap_query_response->CopyFrom(response.submap_query_response());
return response.error_msg();
framework::Client<handlers::GetSubmapHandler> client(client_channel_);
CHECK(client.Write(request));
submap_query_response->CopyFrom(client.response().submap_query_response());
return client.response().error_msg();
}
void MapBuilderStub::SerializeState(
cartographer::io::ProtoStreamWriterInterface* writer) {
grpc::ClientContext client_context;
google::protobuf::Empty request;
auto reader = service_stub_->WriteMap(&client_context, request);
framework::Client<handlers::WriteMapHandler> client(client_channel_);
CHECK(client.Write(request));
proto::WriteMapResponse response;
while (reader->Read(&response)) {
while (client.Read(&response)) {
writer->WriteProto(response);
}
CHECK(writer->Close());
@ -102,26 +99,22 @@ void MapBuilderStub::SerializeState(
void MapBuilderStub::LoadMap(
cartographer::io::ProtoStreamReaderInterface* reader) {
framework::ClientWriter<proto::LoadMapRequest> load_map_writer;
load_map_writer.client_writer = service_stub_->LoadMap(
&load_map_writer.client_context, &load_map_writer.response);
CHECK(load_map_writer.client_writer);
framework::Client<handlers::LoadMapHandler> client(client_channel_);
// Request with a PoseGraph proto is sent first.
{
proto::LoadMapRequest request;
CHECK(reader->ReadProto(request.mutable_pose_graph()));
CHECK(load_map_writer.client_writer->Write(request));
CHECK(client.Write(request));
}
// Multiple requests with SerializedData are sent after.
proto::LoadMapRequest request;
while (reader->ReadProto(request.mutable_serialized_data())) {
CHECK(load_map_writer.client_writer->Write(request));
CHECK(client.Write(request));
}
CHECK(reader->eof());
CHECK(load_map_writer.client_writer->WritesDone());
CHECK(client.WritesDone());
CHECK(client.Finish().ok());
}
int MapBuilderStub::num_trajectory_builders() const {

2
cartographer_grpc/mapping/map_builder_stub.h
View File

@ -22,7 +22,6 @@
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer_grpc/mapping/pose_graph_stub.h"
#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
@ -55,7 +54,6 @@ class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
private:
std::shared_ptr<grpc::Channel> client_channel_;
std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
PoseGraphStub pose_graph_stub_;
std::map<int, std::unique_ptr<TrajectoryBuilderStub>>
trajectory_builder_stubs_;

49
cartographer_grpc/mapping/pose_graph_stub.cc
View File

@ -15,22 +15,26 @@
*/
#include "cartographer_grpc/mapping/pose_graph_stub.h"
#include "cartographer/mapping/pose_graph.h"
#include "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/handlers/get_all_submap_poses.h"
#include "cartographer_grpc/handlers/get_constraints_handler.h"
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace mapping {
PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
proto::MapBuilderService::Stub* stub)
: client_channel_(client_channel), stub_(stub) {}
PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel)
: client_channel_(client_channel) {}
void PoseGraphStub::RunFinalOptimization() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
google::protobuf::Empty response;
CHECK(stub_->RunFinalOptimization(&client_context, request, &response).ok());
framework::Client<handlers::RunFinalOptimizationHandler> client(
client_channel_);
CHECK(client.Write(request));
}
cartographer::mapping::MapById<
@ -44,15 +48,14 @@ cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
cartographer::mapping::PoseGraphInterface::SubmapPose>
PoseGraphStub::GetAllSubmapPoses() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetAllSubmapPosesResponse response;
stub_->GetAllSubmapPoses(&client_context, request, &response);
framework::Client<handlers::GetAllSubmapPosesHandler> client(client_channel_);
CHECK(client.Write(request));
cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
cartographer::mapping::PoseGraphInterface::SubmapPose>
submap_poses;
for (const auto& submap_pose : response.submap_poses()) {
for (const auto& submap_pose : client.response().submap_poses()) {
submap_poses.Insert(
cartographer::mapping::SubmapId{submap_pose.submap_id().trajectory_id(),
submap_pose.submap_id().submap_index()},
@ -65,13 +68,12 @@ PoseGraphStub::GetAllSubmapPoses() {
cartographer::transform::Rigid3d PoseGraphStub::GetLocalToGlobalTransform(
int trajectory_id) {
grpc::ClientContext client_context;
proto::GetLocalToGlobalTransformRequest request;
request.set_trajectory_id(trajectory_id);
proto::GetLocalToGlobalTransformResponse response;
CHECK(stub_->GetLocalToGlobalTransform(&client_context, request, &response)
.ok());
return cartographer::transform::ToRigid3(response.local_to_global());
framework::Client<handlers::GetLocalToGlobalTransformHandler> client(
client_channel_);
CHECK(client.Write(request));
return cartographer::transform::ToRigid3(client.response().local_to_global());
}
cartographer::mapping::MapById<cartographer::mapping::NodeId,
@ -83,14 +85,14 @@ PoseGraphStub::GetTrajectoryNodes() {
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNodePose>
PoseGraphStub::GetTrajectoryNodePoses() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetTrajectoryNodePosesResponse response;
stub_->GetTrajectoryNodePoses(&client_context, request, &response);
framework::Client<handlers::GetTrajectoryNodePosesHandler> client(
client_channel_);
CHECK(client.Write(request));
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNodePose>
node_poses;
for (const auto& node_pose : response.node_poses()) {
for (const auto& node_pose : client.response().node_poses()) {
node_poses.Insert(
cartographer::mapping::NodeId{node_pose.node_id().trajectory_id(),
node_pose.node_id().node_index()},
@ -107,11 +109,10 @@ bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) {
std::vector<cartographer::mapping::PoseGraphInterface::Constraint>
PoseGraphStub::constraints() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetConstraintsResponse response;
stub_->GetConstraints(&client_context, request, &response);
return cartographer::mapping::FromProto(response.constraints());
framework::Client<handlers::GetConstraintsHandler> client(client_channel_);
CHECK(client.Write(request));
return cartographer::mapping::FromProto(client.response().constraints());
}
cartographer::mapping::proto::PoseGraph PoseGraphStub::ToProto() {

5
cartographer_grpc/mapping/pose_graph_stub.h
View File

@ -18,7 +18,6 @@
#define CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
@ -26,8 +25,7 @@ namespace mapping {
class PoseGraphStub : public cartographer::mapping::PoseGraphInterface {
public:
PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
proto::MapBuilderService::Stub* stub);
PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel);
PoseGraphStub(const PoseGraphStub&) = delete;
PoseGraphStub& operator=(const PoseGraphStub&) = delete;
@ -51,7 +49,6 @@ class PoseGraphStub : public cartographer::mapping::PoseGraphInterface {
private:
std::shared_ptr<grpc::Channel> client_channel_;
proto::MapBuilderService::Stub* stub_;
};
} // namespace mapping

106
cartographer_grpc/mapping/trajectory_builder_stub.cc
View File

@ -27,119 +27,121 @@ namespace mapping {
TrajectoryBuilderStub::TrajectoryBuilderStub(
std::shared_ptr<grpc::Channel> client_channel, const int trajectory_id,
LocalSlamResultCallback local_slam_result_callback)
: client_channel_(client_channel), trajectory_id_(trajectory_id) {
stub_ = proto::MapBuilderService::NewStub(client_channel_);
CHECK(stub_) << "Failed to create stub.";
: client_channel_(client_channel),
trajectory_id_(trajectory_id),
receive_local_slam_results_client_(client_channel_) {
if (local_slam_result_callback) {
proto::ReceiveLocalSlamResultsRequest request;
request.set_trajectory_id(trajectory_id);
local_slam_result_reader_.client_reader = stub_->ReceiveLocalSlamResults(
&local_slam_result_reader_.client_context, request);
auto* client_reader_ptr = local_slam_result_reader_.client_reader.get();
local_slam_result_reader_.thread =
receive_local_slam_results_client_.Write(request);
auto* receive_local_slam_results_client_ptr =
&receive_local_slam_results_client_;
receive_local_slam_results_thread_ =
cartographer::common::make_unique<std::thread>(
[client_reader_ptr, local_slam_result_callback]() {
RunLocalSlamResultReader(client_reader_ptr,
[receive_local_slam_results_client_ptr,
local_slam_result_callback]() {
RunLocalSlamResultsReader(receive_local_slam_results_client_ptr,
local_slam_result_callback);
});
}
}
TrajectoryBuilderStub::~TrajectoryBuilderStub() {
if (local_slam_result_reader_.thread) {
local_slam_result_reader_.thread->join();
if (receive_local_slam_results_thread_) {
receive_local_slam_results_thread_->join();
}
if (rangefinder_writer_.client_writer) {
CHECK(rangefinder_writer_.client_writer->WritesDone());
CHECK(rangefinder_writer_.client_writer->Finish().ok());
if (add_rangefinder_client_) {
CHECK(add_rangefinder_client_->WritesDone());
CHECK(add_rangefinder_client_->Finish().ok());
}
if (imu_writer_.client_writer) {
CHECK(imu_writer_.client_writer->WritesDone());
CHECK(imu_writer_.client_writer->Finish().ok());
if (add_imu_client_) {
CHECK(add_imu_client_->WritesDone());
CHECK(add_imu_client_->Finish().ok());
}
if (odometry_writer_.client_writer) {
CHECK(odometry_writer_.client_writer->WritesDone());
CHECK(odometry_writer_.client_writer->Finish().ok());
if (add_odometry_client_) {
CHECK(add_odometry_client_->WritesDone());
CHECK(add_odometry_client_->Finish().ok());
}
if (fixed_frame_writer_.client_writer) {
CHECK(fixed_frame_writer_.client_writer->WritesDone());
CHECK(fixed_frame_writer_.client_writer->Finish().ok());
if (add_landmark_client_) {
CHECK(add_landmark_client_->WritesDone());
CHECK(add_landmark_client_->Finish().ok());
}
if (add_fixed_frame_pose_client_) {
CHECK(add_fixed_frame_pose_client_->WritesDone());
CHECK(add_fixed_frame_pose_client_->Finish().ok());
}
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData& timed_point_cloud_data) {
if (!rangefinder_writer_.client_writer) {
rangefinder_writer_.client_writer = stub_->AddRangefinderData(
&rangefinder_writer_.client_context, &rangefinder_writer_.response);
CHECK(rangefinder_writer_.client_writer);
if (!add_rangefinder_client_) {
add_rangefinder_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddRangefinderDataHandler>>(
client_channel_);
}
proto::AddRangefinderDataRequest request;
sensor::CreateAddRangeFinderDataRequest(
sensor_id, trajectory_id_,
cartographer::sensor::ToProto(timed_point_cloud_data), &request);
rangefinder_writer_.client_writer->Write(request);
add_rangefinder_client_->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) {
if (!imu_writer_.client_writer) {
imu_writer_.client_writer =
stub_->AddImuData(&imu_writer_.client_context, &imu_writer_.response);
CHECK(imu_writer_.client_writer);
if (!add_imu_client_) {
add_imu_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddImuDataHandler>>(client_channel_);
}
proto::AddImuDataRequest request;
sensor::CreateAddImuDataRequest(sensor_id, trajectory_id_,
cartographer::sensor::ToProto(imu_data),
&request);
imu_writer_.client_writer->Write(request);
add_imu_client_->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) {
if (!odometry_writer_.client_writer) {
odometry_writer_.client_writer = stub_->AddOdometryData(
&odometry_writer_.client_context, &odometry_writer_.response);
CHECK(odometry_writer_.client_writer);
if (!add_odometry_client_) {
add_odometry_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
}
proto::AddOdometryDataRequest request;
sensor::CreateAddOdometryDataRequest(
sensor_id, trajectory_id_, cartographer::sensor::ToProto(odometry_data),
&request);
odometry_writer_.client_writer->Write(request);
add_odometry_client_->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData& fixed_frame_pose) {
if (!fixed_frame_writer_.client_writer) {
fixed_frame_writer_.client_writer = stub_->AddFixedFramePoseData(
&fixed_frame_writer_.client_context, &fixed_frame_writer_.response);
CHECK(fixed_frame_writer_.client_writer);
if (!add_fixed_frame_pose_client_) {
add_fixed_frame_pose_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddFixedFramePoseDataHandler>>(
client_channel_);
}
proto::AddFixedFramePoseDataRequest request;
sensor::CreateAddFixedFramePoseDataRequest(
sensor_id, trajectory_id_,
cartographer::sensor::ToProto(fixed_frame_pose), &request);
fixed_frame_writer_.client_writer->Write(request);
add_fixed_frame_pose_client_->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::LandmarkData& landmark_data) {
if (!landmark_writer_.client_writer) {
landmark_writer_.client_writer = stub_->AddLandmarkData(
&landmark_writer_.client_context, &landmark_writer_.response);
CHECK(landmark_writer_.client_writer);
if (!add_landmark_client_) {
add_landmark_client_ = cartographer::common::make_unique<
framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
}
proto::AddLandmarkDataRequest request;
sensor::CreateAddLandmarkDataRequest(
sensor_id, trajectory_id_, cartographer::sensor::ToProto(landmark_data),
&request);
landmark_writer_.client_writer->Write(request);
add_landmark_client_->Write(request);
}
void TrajectoryBuilderStub::AddLocalSlamResultData(
@ -148,11 +150,11 @@ void TrajectoryBuilderStub::AddLocalSlamResultData(
LOG(FATAL) << "Not implemented";
}
void TrajectoryBuilderStub::RunLocalSlamResultReader(
grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>* client_reader,
void TrajectoryBuilderStub::RunLocalSlamResultsReader(
framework::Client<handlers::ReceiveLocalSlamResultsHandler>* client,
LocalSlamResultCallback local_slam_result_callback) {
proto::ReceiveLocalSlamResultsResponse response;
while (client_reader->Read(&response)) {
while (client->Read(&response)) {
int trajectory_id = response.trajectory_id();
cartographer::common::Time time =
cartographer::common::FromUniversal(response.timestamp());
@ -170,7 +172,7 @@ void TrajectoryBuilderStub::RunLocalSlamResultReader(
local_slam_result_callback(trajectory_id, time, local_pose, range_data,
std::move(insertion_result));
}
client_reader->Finish();
client->Finish();
}
} // namespace mapping

43
cartographer_grpc/mapping/trajectory_builder_stub.h
View File

@ -21,8 +21,14 @@
#include "cartographer/mapping/local_slam_result_data.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 "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
@ -57,27 +63,26 @@ class TrajectoryBuilderStub
local_slam_result_data) override;
private:
struct LocalSlamResultReader {
grpc::ClientContext client_context;
std::unique_ptr<grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>>
client_reader;
std::unique_ptr<std::thread> thread;
};
static void RunLocalSlamResultReader(
grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>* client_reader,
static void RunLocalSlamResultsReader(
framework::Client<handlers::ReceiveLocalSlamResultsHandler>*
client_reader,
LocalSlamResultCallback local_slam_result_callback);
std::shared_ptr<grpc::Channel> client_channel_;
const int trajectory_id_;
std::unique_ptr<proto::MapBuilderService::Stub> stub_;
framework::ClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
fixed_frame_writer_;
framework::ClientWriter<proto::AddLandmarkDataRequest> landmark_writer_;
LocalSlamResultReader local_slam_result_reader_;
std::unique_ptr<framework::Client<handlers::AddRangefinderDataHandler>>
add_rangefinder_client_;
std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
add_imu_client_;
std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
add_odometry_client_;
std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
add_fixed_frame_pose_client_;
std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
add_landmark_client_;
framework::Client<handlers::ReceiveLocalSlamResultsHandler>
receive_local_slam_results_client_;
std::unique_ptr<std::thread> receive_local_slam_results_thread_;
};
} // namespace mapping