From 39f140da66adf879f4121360327dedc6fdb8b83e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Wed, 7 Feb 2018 16:35:44 +0100
Subject: [PATCH] Follow googlecartographer/cartographer#859 (#892)

---
 cartographer_grpc/handlers/load_map_handler.cc   |  3 +++
 cartographer_grpc/handlers/write_map_handler.cc  |  3 +++
 cartographer_grpc/mapping/map_builder_stub.cc    | 16 +++++++++++++++-
 .../proto/map_builder_service.proto              |  8 ++++++--
 4 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/cartographer_grpc/handlers/load_map_handler.cc b/cartographer_grpc/handlers/load_map_handler.cc
index 462fcdb..900156a 100644
--- a/cartographer_grpc/handlers/load_map_handler.cc
+++ b/cartographer_grpc/handlers/load_map_handler.cc
@@ -31,6 +31,9 @@ void LoadMapHandler::OnRequest(const proto::LoadMapRequest& request) {
     case proto::LoadMapRequest::kPoseGraph:
       reader_.AddProto(request.pose_graph());
       break;
+    case proto::LoadMapRequest::kAllTrajectoryBuilderOptions:
+      reader_.AddProto(request.all_trajectory_builder_options());
+      break;
     case proto::LoadMapRequest::kSerializedData:
       reader_.AddProto(request.serialized_data());
       break;
diff --git a/cartographer_grpc/handlers/write_map_handler.cc b/cartographer_grpc/handlers/write_map_handler.cc
index d9a4d89..adcbdd5 100644
--- a/cartographer_grpc/handlers/write_map_handler.cc
+++ b/cartographer_grpc/handlers/write_map_handler.cc
@@ -39,6 +39,9 @@ void WriteMapHandler::OnRequest(const google::protobuf::Empty& request) {
             cartographer::common::make_unique<proto::WriteMapResponse>();
         if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
           response->mutable_pose_graph()->CopyFrom(*proto);
+        } else if (proto->GetTypeName() ==
+                   "cartographer.mapping.proto.AllTrajectoryBuilderOptions") {
+          response->mutable_all_trajectory_builder_options()->CopyFrom(*proto);
         } else if (proto->GetTypeName() ==
                    "cartographer.mapping.proto.SerializedData") {
           response->mutable_serialized_data()->CopyFrom(*proto);
diff --git a/cartographer_grpc/mapping/map_builder_stub.cc b/cartographer_grpc/mapping/map_builder_stub.cc
index f1fcc72..99d3645 100644
--- a/cartographer_grpc/mapping/map_builder_stub.cc
+++ b/cartographer_grpc/mapping/map_builder_stub.cc
@@ -97,7 +97,20 @@ void MapBuilderStub::SerializeState(
   CHECK(client.Write(request));
   proto::WriteMapResponse response;
   while (client.Read(&response)) {
-    writer->WriteProto(response);
+    // writer->WriteProto(response);
+    switch (response.map_chunk_case()) {
+      case proto::WriteMapResponse::kPoseGraph:
+        writer->WriteProto(response.pose_graph());
+        break;
+      case proto::WriteMapResponse::kAllTrajectoryBuilderOptions:
+        writer->WriteProto(response.all_trajectory_builder_options());
+        break;
+      case proto::WriteMapResponse::kSerializedData:
+        writer->WriteProto(response.serialized_data());
+        break;
+      default:
+        LOG(FATAL) << "Unhandled message type";
+    }
   }
   CHECK(writer->Close());
 }
@@ -109,6 +122,7 @@ void MapBuilderStub::LoadMap(
   {
     proto::LoadMapRequest request;
     CHECK(reader->ReadProto(request.mutable_pose_graph()));
+    CHECK(reader->ReadProto(request.mutable_all_trajectory_builder_options()));
     CHECK(client.Write(request));
   }
   // Multiple requests with SerializedData are sent after.
diff --git a/cartographer_grpc/proto/map_builder_service.proto b/cartographer_grpc/proto/map_builder_service.proto
index 49ead22..6c614d9 100644
--- a/cartographer_grpc/proto/map_builder_service.proto
+++ b/cartographer_grpc/proto/map_builder_service.proto
@@ -105,7 +105,9 @@ message GetSubmapRequest {
 message LoadMapRequest {
   oneof map_chunk {
     cartographer.mapping.proto.PoseGraph pose_graph = 1;
-    cartographer.mapping.proto.SerializedData serialized_data = 2;
+    cartographer.mapping.proto.AllTrajectoryBuilderOptions
+        all_trajectory_builder_options = 2;
+    cartographer.mapping.proto.SerializedData serialized_data = 3;
   }
 }
 
@@ -163,7 +165,9 @@ message AddLocalSlamResultDataRequest {
 message WriteMapResponse {
   oneof map_chunk {
     cartographer.mapping.proto.PoseGraph pose_graph = 1;
-    cartographer.mapping.proto.SerializedData serialized_data = 2;
+    cartographer.mapping.proto.AllTrajectoryBuilderOptions
+        all_trajectory_builder_options = 2;
+    cartographer.mapping.proto.SerializedData serialized_data = 3;
   }
 }