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correct MapBuilderStub (#770) 

Context: The `::grpc::ClientContext` represents a single RPC on the client side. Therefore it is illegal to share the same context between two different RPC invocations.
master
gaschler 2017-12-18 17:12:29 +01:00 committed by Wally B. Feed
parent 03751b3c9f
commit 5bb81a9b4a
2 changed files with 4 additions and 3 deletions
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6
cartographer_grpc/mapping/map_builder_stub.cc
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@ -33,6 +33,7 @@ int MapBuilderStub::AddTrajectoryBuilder(
const cartographer::mapping::proto::TrajectoryBuilderOptions& const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options, trajectory_options,
LocalSlamResultCallback local_slam_result_callback) { LocalSlamResultCallback local_slam_result_callback) {
grpc::ClientContext client_context;
proto::AddTrajectoryRequest request; proto::AddTrajectoryRequest request;
proto::AddTrajectoryResponse result; proto::AddTrajectoryResponse result;
*request.mutable_trajectory_builder_options() = trajectory_options; *request.mutable_trajectory_builder_options() = trajectory_options;
@ -40,7 +41,7 @@ int MapBuilderStub::AddTrajectoryBuilder(
*request.add_expected_sensor_ids() = sensor_id; *request.add_expected_sensor_ids() = sensor_id;
} }
grpc::Status status = grpc::Status status =
service_stub_->AddTrajectory(&client_context_, request, &result); service_stub_->AddTrajectory(&client_context, request, &result);
CHECK(status.ok()); CHECK(status.ok());
// Construct trajectory builder stub. // Construct trajectory builder stub.
@ -62,11 +63,12 @@ MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
} }
void MapBuilderStub::FinishTrajectory(int trajectory_id) { void MapBuilderStub::FinishTrajectory(int trajectory_id) {
grpc::ClientContext client_context;
proto::FinishTrajectoryRequest request; proto::FinishTrajectoryRequest request;
google::protobuf::Empty response; google::protobuf::Empty response;
request.set_trajectory_id(trajectory_id); request.set_trajectory_id(trajectory_id);
grpc::Status status = grpc::Status status =
service_stub_->FinishTrajectory(&client_context_, request, &response); service_stub_->FinishTrajectory(&client_context, request, &response);
CHECK(status.ok()); CHECK(status.ok());
trajectory_builder_stubs_.erase(trajectory_id); trajectory_builder_stubs_.erase(trajectory_id);
} }

1
cartographer_grpc/mapping/map_builder_stub.h
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@ -53,7 +53,6 @@ class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
cartographer::mapping::PoseGraphInterface* pose_graph() override; cartographer::mapping::PoseGraphInterface* pose_graph() override;
private: private:
grpc::ClientContext client_context_;
std::shared_ptr<grpc::Channel> client_channel_; std::shared_ptr<grpc::Channel> client_channel_;
std::unique_ptr<proto::MapBuilderService::Stub> service_stub_; std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
PoseGraphStub pose_graph_stub_; PoseGraphStub pose_graph_stub_;