Add gRPC version of LoadMap(). (#842)
Later they will be used in map_builder_stub and load_map_handler.master
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer/io/in_memory_proto_stream.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class LoadMapHandler
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: public framework::RpcHandler<framework::Stream<proto::LoadMapRequest>,
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google::protobuf::Empty> {
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public:
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void OnRequest(const proto::LoadMapRequest& request) override {
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switch (request.map_chunk_case()) {
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case proto::LoadMapRequest::kPoseGraph:
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reader_.AddProto(request.pose_graph());
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break;
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case proto::LoadMapRequest::kSerializedData:
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reader_.AddProto(request.serialized_data());
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break;
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default:
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LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
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}
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}
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void OnReadsDone() override {
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GetContext<MapBuilderServer::MapBuilderContext>()->map_builder().LoadMap(
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&reader_);
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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private:
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cartographer::io::InMemoryProtoStreamReader reader_;
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
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@ -29,6 +29,7 @@
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#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_submap_handler.h"
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/load_map_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "glog/logging.h"
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@ -249,6 +250,9 @@ MapBuilderServer::MapBuilderServer(
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"GetLocalToGlobalTransform");
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server_builder.RegisterHandler<handlers::GetConstraintsHandler,
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proto::MapBuilderService>("GetConstraints");
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server_builder
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.RegisterHandler<handlers::LoadMapHandler, proto::MapBuilderService>(
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"LoadMap");
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grpc_server_ = server_builder.Build();
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grpc_server_->SetExecutionContext(
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cartographer::common::make_unique<MapBuilderContext>(this));
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@ -94,7 +94,26 @@ void MapBuilderStub::SerializeState(
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void MapBuilderStub::LoadMap(
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cartographer::io::ProtoStreamReaderInterface* reader) {
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LOG(FATAL) << "Not implemented";
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framework::ClientWriter<proto::LoadMapRequest> load_map_writer;
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load_map_writer.client_writer = service_stub_->LoadMap(
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&load_map_writer.client_context, &load_map_writer.response);
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CHECK(load_map_writer.client_writer);
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// Request with a PoseGraph proto is sent first.
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{
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proto::LoadMapRequest request;
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CHECK(reader->ReadProto(request.mutable_pose_graph()));
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CHECK(load_map_writer.client_writer->Write(request));
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}
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// Multiple requests with SerializedData are sent after.
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proto::LoadMapRequest request;
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while (reader->ReadProto(request.mutable_serialized_data())) {
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CHECK(load_map_writer.client_writer->Write(request));
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}
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CHECK(reader->eof());
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CHECK(load_map_writer.client_writer->WritesDone());
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}
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int MapBuilderStub::num_trajectory_builders() const {
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@ -88,6 +88,13 @@ message GetSubmapRequest {
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cartographer.mapping.proto.SubmapId submap_id = 1;
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}
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message LoadMapRequest {
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oneof map_chunk {
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cartographer.mapping.proto.PoseGraph pose_graph = 1;
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cartographer.mapping.proto.SerializedData serialized_data = 2;
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}
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}
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message GetSubmapResponse {
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cartographer.mapping.proto.SubmapQuery.Response submap_query_response = 1;
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string error_msg = 2;
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@ -184,4 +191,7 @@ service MapBuilderService {
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// Returns the list of constraints in the current optimization problem.
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rpc GetConstraints(google.protobuf.Empty) returns (GetConstraintsResponse);
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// Adds map data in the order defined by ProtoStreamReader.
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rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
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}
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