CollatorInterface (#808)

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)

cartographer/mapping/collated_trajectory_builder.cc

@@ -29,7 +29,7 @@ constexpr double kSensorDataRatesLoggingPeriodSeconds = 15.;
 }  // namespace
 
 CollatedTrajectoryBuilder::CollatedTrajectoryBuilder(
-    sensor::Collator* const sensor_collator, const int trajectory_id,
+    sensor::CollatorInterface* const sensor_collator, const int trajectory_id,
     const std::unordered_set<std::string>& expected_sensor_ids,
     std::unique_ptr<TrajectoryBuilderInterface> wrapped_trajectory_builder)
     : sensor_collator_(sensor_collator),

cartographer/mapping/collated_trajectory_builder.h

@@ -27,18 +27,18 @@
 #include "cartographer/common/rate_timer.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
-#include "cartographer/sensor/collator.h"
+#include "cartographer/sensor/collator_interface.h"
 #include "cartographer/sensor/dispatchable.h"
 
 namespace cartographer {
 namespace mapping {
 
-// Handles collating sensor data using a sensor::Collator, then passing it on to
+// Collates sensor data using a sensor::CollatorInterface, then passes it on to
 // a mapping::TrajectoryBuilderInterface which is common for 2D and 3D.
 class CollatedTrajectoryBuilder : public TrajectoryBuilderInterface {
  public:
   CollatedTrajectoryBuilder(
-      sensor::Collator* sensor_collator, int trajectory_id,
+      sensor::CollatorInterface* sensor_collator, int trajectory_id,
       const std::unordered_set<std::string>& expected_sensor_ids,
       std::unique_ptr<TrajectoryBuilderInterface> wrapped_trajectory_builder);
   ~CollatedTrajectoryBuilder() override;
@@ -79,7 +79,7 @@ class CollatedTrajectoryBuilder : public TrajectoryBuilderInterface {
   void HandleCollatedSensorData(const std::string& sensor_id,
                                 std::unique_ptr<sensor::Data> data);
 
-  sensor::Collator* const sensor_collator_;
+  sensor::CollatorInterface* const sensor_collator_;
   const int trajectory_id_;
   std::unique_ptr<TrajectoryBuilderInterface> wrapped_trajectory_builder_;
 

cartographer/sensor/collator.h

@@ -23,44 +23,31 @@
 #include <unordered_set>
 #include <vector>
 
+#include "cartographer/sensor/collator_interface.h"
 #include "cartographer/sensor/data.h"
 #include "cartographer/sensor/ordered_multi_queue.h"
 
 namespace cartographer {
 namespace sensor {
 
-class Collator {
+class Collator : public CollatorInterface {
  public:
-  using Callback =
-      std::function<void(const std::string&, std::unique_ptr<Data>)>;
-
   Collator() {}
 
   Collator(const Collator&) = delete;
   Collator& operator=(const Collator&) = delete;
 
-  // Adds a trajectory to produce sorted sensor output for. Calls 'callback'
-  // for each collated sensor data.
   void AddTrajectory(int trajectory_id,
                      const std::unordered_set<std::string>& expected_sensor_ids,
-                     const Callback& callback);
+                     const Callback& callback) override;
 
-  // Marks 'trajectory_id' as finished.
+  void FinishTrajectory(int trajectory_id) override;
-  void FinishTrajectory(int trajectory_id);
 
-  // Adds 'data' for 'trajectory_id' to be collated. 'data' must contain valid
+  void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) override;
-  // sensor data. Sensor packets with matching 'data.sensor_id_' must be added
-  // in time order.
-  void AddSensorData(int trajectory_id, std::unique_ptr<Data> data);
 
-  // Dispatches all queued sensor packets. May only be called once.
+  void Flush() override;
-  // AddSensorData may not be called after Flush.
-  void Flush();
 
-  // Must only be called if at least one unfinished trajectory exists. Returns
+  int GetBlockingTrajectoryId() const override;
-  // the ID of the trajectory that needs more data before the Collator is
-  // unblocked.
-  int GetBlockingTrajectoryId() const;
 
  private:
   // Queue keys are a pair of trajectory ID and sensor identifier.

cartographer/sensor/collator_interface.h

@@ -0,0 +1,68 @@
+/*
+ * 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_SENSOR_COLLATOR_INTERFACE_H_
+#define CARTOGRAPHER_SENSOR_COLLATOR_INTERFACE_H_
+
+#include <functional>
+#include <memory>
+#include <unordered_set>
+#include <vector>
+
+#include "cartographer/sensor/data.h"
+
+namespace cartographer {
+namespace sensor {
+
+class CollatorInterface {
+ public:
+  using Callback =
+      std::function<void(const std::string&, std::unique_ptr<Data>)>;
+
+  CollatorInterface() {}
+  virtual ~CollatorInterface() {}
+  CollatorInterface(const CollatorInterface&) = delete;
+  CollatorInterface& operator=(const CollatorInterface&) = delete;
+
+  // Adds a trajectory to produce sorted sensor output for. Calls 'callback'
+  // for each collated sensor data.
+  virtual void AddTrajectory(
+      int trajectory_id,
+      const std::unordered_set<std::string>& expected_sensor_ids,
+      const Callback& callback) = 0;
+
+  // Marks 'trajectory_id' as finished.
+  virtual void FinishTrajectory(int trajectory_id) = 0;
+
+  // Adds 'data' for 'trajectory_id' to be collated. 'data' must contain valid
+  // sensor data. Sensor packets with matching 'data.sensor_id_' must be added
+  // in time order.
+  virtual void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) = 0;
+
+  // Dispatches all queued sensor packets. May only be called once.
+  // AddSensorData may not be called after Flush.
+  virtual void Flush() = 0;
+
+  // Must only be called if at least one unfinished trajectory exists. Returns
+  // the ID of the trajectory that needs more data before the Collator is
+  // unblocked.
+  virtual int GetBlockingTrajectoryId() const = 0;
+};
+
+}  // namespace sensor
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_SENSOR_COLLATOR_INTERFACE_H_