Implement sensor data uploading in LocalTrajectoryUploader. (#822)

cartographer_grpc/framework/client_writer.h

@@ -0,0 +1,38 @@
+/*
+ * 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_

cartographer_grpc/local_trajectory_uploader.cc

@@ -16,21 +16,114 @@
 
 #include "cartographer_grpc/local_trajectory_uploader.h"
 
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "glog/logging.h"
 
 namespace cartographer_grpc {
+namespace {
+
+const cartographer::common::Duration kPopTimeout =
+    cartographer::common::FromMilliseconds(100);
+
+}  // namespace
 
 LocalTrajectoryUploader::LocalTrajectoryUploader(
-    const std::string& server_address)
+    const std::string &uplink_server_address)
-    : client_channel_(grpc::CreateChannel(server_address,
+    : client_channel_(grpc::CreateChannel(uplink_server_address,
                                           grpc::InsecureChannelCredentials())),
       service_stub_(proto::MapBuilderService::NewStub(client_channel_)) {}
 
+LocalTrajectoryUploader::~LocalTrajectoryUploader() {
+  if (imu_writer_.client_writer) {
+    CHECK(imu_writer_.client_writer->WritesDone());
+    CHECK(imu_writer_.client_writer->Finish().ok());
+  }
+  if (odometry_writer_.client_writer) {
+    CHECK(odometry_writer_.client_writer->WritesDone());
+    CHECK(odometry_writer_.client_writer->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());
+  }
+}
+
+void LocalTrajectoryUploader::Start() {
+  CHECK(!shutting_down_);
+  CHECK(!upload_thread_);
+  upload_thread_ = cartographer::common::make_unique<std::thread>(
+      [this]() { this->ProcessSendQueue(); });
+}
+
+void LocalTrajectoryUploader::Shutdown() {
+  CHECK(!shutting_down_);
+  CHECK(upload_thread_);
+  shutting_down_ = true;
+  upload_thread_->join();
+}
+
+void LocalTrajectoryUploader::ProcessSendQueue() {
+  LOG(INFO) << "Starting uploader thread.";
+  while (!shutting_down_) {
+    auto data_message = send_queue_.PopWithTimeout(kPopTimeout);
+    if (data_message) {
+      if (const auto *fixed_frame_pose_data =
+              dynamic_cast<const proto::AddFixedFramePoseDataRequest *>(
+                  data_message.get())) {
+        ProcessFixedFramePoseDataMessage(fixed_frame_pose_data);
+      } else if (const auto *imu_data =
+                     dynamic_cast<const proto::AddImuDataRequest *>(
+                         data_message.get())) {
+        ProcessImuDataMessage(imu_data);
+      } else if (const auto *odometry_data =
+                     dynamic_cast<const proto::AddOdometryDataRequest *>(
+                         data_message.get())) {
+        ProcessOdometryDataMessage(odometry_data);
+      } else {
+        LOG(FATAL) << "Unknown message type: " << data_message->GetTypeName();
+      }
+    }
+  }
+}
+
+void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
+    const 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);
+  }
+  fixed_frame_pose_writer_.client_writer->Write(*data_request);
+}
+
+void LocalTrajectoryUploader::ProcessImuDataMessage(
+    const 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);
+  }
+  imu_writer_.client_writer->Write(*data_request);
+}
+
+void LocalTrajectoryUploader::ProcessOdometryDataMessage(
+    const 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);
+  }
+  odometry_writer_.client_writer->Write(*data_request);
+}
+
 void LocalTrajectoryUploader::AddTrajectory(
     int local_trajectory_id,
     const std::unordered_set<std::string> &expected_sensor_ids,
-    const cartographer::mapping::proto::TrajectoryBuilderOptions&
+    const cartographer::mapping::proto::TrajectoryBuilderOptions
-        trajectory_options) {
+        &trajectory_options) {
   grpc::ClientContext client_context;
   proto::AddTrajectoryRequest request;
   proto::AddTrajectoryResponse result;

cartographer_grpc/local_trajectory_uploader.h

@@ -18,11 +18,14 @@
 #define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
 
 #include <map>
+#include <memory>
 #include <string>
+#include <thread>
 #include <unordered_set>
 
 #include "cartographer/common/blocking_queue.h"
 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
+#include "cartographer_grpc/framework/client_writer.h"
 #include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
 #include "grpc++/grpc++.h"
 
@@ -30,7 +33,16 @@ namespace cartographer_grpc {
 
 class LocalTrajectoryUploader {
  public:
-  LocalTrajectoryUploader(const std::string& server_address);
+  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::unordered_set<std::string>& expected_sensor_ids,
@@ -41,12 +53,25 @@ class LocalTrajectoryUploader {
       std::unique_ptr<google::protobuf::Message> data_request);
 
  private:
+  void ProcessSendQueue();
+  void ProcessFixedFramePoseDataMessage(
+      const proto::AddFixedFramePoseDataRequest* data_request);
+  void ProcessImuDataMessage(const proto::AddImuDataRequest* data_request);
+  void ProcessOdometryDataMessage(
+      const 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::AddOdometryDataRequest> odometry_writer_;
 };
 
 }  // namespace cartographer_grpc

cartographer_grpc/map_builder_server.cc

@@ -253,6 +253,9 @@ MapBuilderServer::MapBuilderServer(
 
 void MapBuilderServer::Start() {
   shutting_down_ = false;
+  if (local_trajectory_uploader_) {
+    local_trajectory_uploader_->Start();
+  }
   StartSlamThread();
   grpc_server_->Start();
 }
@@ -262,6 +265,9 @@ void MapBuilderServer::WaitForShutdown() {
   if (slam_thread_) {
     slam_thread_->join();
   }
+  if (local_trajectory_uploader_) {
+    local_trajectory_uploader_->Shutdown();
+  }
 }
 
 void MapBuilderServer::Shutdown() {

cartographer_grpc/map_builder_server.h

@@ -112,7 +112,7 @@ class MapBuilderServer {
       const proto::MapBuilderServerOptions& map_builder_server_options,
       std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder);
 
-  // Starts the gRPC server and the SLAM thread.
+  // Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
   void Start();
 
   // Waits for the 'MapBuilderServer' to shut down. Note: The server must be
@@ -123,7 +123,8 @@ class MapBuilderServer {
   // Waits until all computation is finished (for testing).
   void WaitUntilIdle();
 
-  // Shuts down the gRPC server and the SLAM thread.
+  // Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
+  // thread.
   void Shutdown();
 
  private:

cartographer_grpc/mapping/trajectory_builder_stub.h

@@ -21,6 +21,7 @@
 
 #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 "grpc++/grpc++.h"
 
@@ -53,12 +54,6 @@ class TrajectoryBuilderStub
           local_slam_result_data) override;
 
  private:
-  template <typename RequestType>
-  struct SensorClientWriter {
-    grpc::ClientContext client_context;
-    std::unique_ptr<grpc::ClientWriter<RequestType>> client_writer;
-    google::protobuf::Empty response;
-  };
   struct LocalSlamResultReader {
     grpc::ClientContext client_context;
     std::unique_ptr<grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>>
@@ -73,10 +68,11 @@ class TrajectoryBuilderStub
   std::shared_ptr<grpc::Channel> client_channel_;
   const int trajectory_id_;
   std::unique_ptr<proto::MapBuilderService::Stub> stub_;
-  SensorClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
+  framework::ClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
-  SensorClientWriter<proto::AddImuDataRequest> imu_writer_;
+  framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
-  SensorClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
+  framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
-  SensorClientWriter<proto::AddFixedFramePoseDataRequest> fixed_frame_writer_;
+  framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
+      fixed_frame_writer_;
   LocalSlamResultReader local_slam_result_reader_;
 };