Set client_id in LoadState(FromFile) (#1320)

cartographer/cloud/client/map_builder_stub.cc

@@ -148,6 +148,11 @@ std::map<int, int> MapBuilderStub::LoadState(
     LOG(FATAL) << "Not implemented";
   }
   async_grpc::Client<handlers::LoadStateSignature> client(client_channel_);
+  {
+    proto::LoadStateRequest request;
+    request.set_client_id(client_id_);
+    CHECK(client.Write(request));
+  }
 
   io::ProtoStreamDeserializer deserializer(reader);
   // Request with the SerializationHeader proto is sent first.
@@ -188,6 +193,7 @@ std::map<int, int> MapBuilderStub::LoadStateFromFile(
     const std::string& filename) {
   proto::LoadStateFromFileRequest request;
   request.set_file_path(filename);
+  request.set_client_id(client_id_);
   async_grpc::Client<handlers::LoadStateFromFileSignature> client(
       client_channel_);
   CHECK(client.Write(request));

cartographer/cloud/internal/client_server_test.cc

@@ -529,7 +529,7 @@ TEST_F(ClientServerTest, LocalSlam2DUplinkServerRestarting) {
   server_->WaitForShutdown();
 }
 
-TEST_F(ClientServerTest, LoadState) {
+TEST_F(ClientServerTest, LoadStateAndDelete) {
   InitializeRealServer();
   server_->Start();
   InitializeStub();
@@ -553,9 +553,17 @@ TEST_F(ClientServerTest, LoadState) {
   int expected_trajectory_id = 0;
   EXPECT_EQ(trajectory_remapping.size(), 1);
   EXPECT_EQ(trajectory_remapping.at(0), expected_trajectory_id);
+  stub_->pose_graph()->RunFinalOptimization();
   EXPECT_TRUE(stub_->pose_graph()->IsTrajectoryFrozen(expected_trajectory_id));
   EXPECT_FALSE(
       stub_->pose_graph()->IsTrajectoryFinished(expected_trajectory_id));
+  for (const auto& entry : trajectory_remapping) {
+    int trajectory_id = entry.second;
+    stub_->pose_graph()->DeleteTrajectory(trajectory_id);
+    stub_->pose_graph()->RunFinalOptimization();
+    EXPECT_EQ(stub_->pose_graph()->GetTrajectoryStates().at(trajectory_id),
+              PoseGraphInterface::TrajectoryState::DELETED);
+  }
   server_->Shutdown();
 }
 

cartographer/cloud/internal/handlers/load_state_from_file_handler.cc

@@ -33,6 +33,10 @@ void LoadStateFromFileHandler::OnRequest(
   auto trajectory_remapping =
       GetContext<MapBuilderContextInterface>()->map_builder().LoadStateFromFile(
           request.file_path());
+  for (const auto& entry : trajectory_remapping) {
+    GetContext<MapBuilderContextInterface>()->RegisterClientIdForTrajectory(
+        request.client_id(), entry.second);
+  }
   auto response = common::make_unique<proto::LoadStateFromFileResponse>();
   *response->mutable_trajectory_remapping() = ToProto(trajectory_remapping);
   Send(std::move(response));

cartographer/cloud/internal/handlers/load_state_handler.cc

@@ -34,6 +34,9 @@ void LoadStateHandler::OnRequest(const proto::LoadStateRequest& request) {
     case proto::LoadStateRequest::kSerializationHeader:
       reader_.AddProto(request.serialization_header());
       break;
+    case proto::LoadStateRequest::kClientId:
+      client_id_ = request.client_id();
+      break;
     default:
       LOG(FATAL) << "Unhandled proto::LoadStateRequest case.";
   }
@@ -43,6 +46,10 @@ void LoadStateHandler::OnReadsDone() {
   auto trajectory_remapping =
       GetContext<MapBuilderContextInterface>()->map_builder().LoadState(
           &reader_, true);
+  for (const auto& entry : trajectory_remapping) {
+    GetContext<MapBuilderContextInterface>()->RegisterClientIdForTrajectory(
+        client_id_, entry.second);
+  }
   auto response = common::make_unique<proto::LoadStateResponse>();
   *response->mutable_trajectory_remapping() = ToProto(trajectory_remapping);
   Send(std::move(response));

cartographer/cloud/internal/handlers/load_state_handler.h

@@ -37,6 +37,7 @@ class LoadStateHandler : public async_grpc::RpcHandler<LoadStateSignature> {
 
  private:
   io::InMemoryProtoStreamReader reader_;
+  std::string client_id_;
 };
 
 }  // namespace handlers

cartographer/cloud/proto/map_builder_service.proto

@@ -144,6 +144,7 @@ message LoadStateRequest {
   oneof state_chunk {
     cartographer.mapping.proto.SerializedData serialized_data = 1;
     cartographer.mapping.proto.SerializationHeader serialization_header = 2;
+    string client_id = 3;
   }
 }
 
@@ -158,6 +159,7 @@ message LoadStateResponse {
 
 message LoadStateFromFileRequest {
   string file_path = 1;
+  string client_id = 2;
 }
 
 message LoadStateFromFileResponse {