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Check client_id in sensor data handlers (#1266)

master
Christoph Schütte 2018-07-13 09:57:35 +02:00 committed by Wally B. Feed
parent 2b80767b57
commit 61a89d8ab8
17 changed files with 141 additions and 44 deletions
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8
cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc
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@ -29,8 +29,8 @@ namespace cartographer {
namespace cloud {
namespace handlers {
void AddFixedFramePoseDataHandler::OnRequest(
const proto::AddFixedFramePoseDataRequest &request) {
void AddFixedFramePoseDataHandler::OnSensorData(
const proto::AddFixedFramePoseDataRequest& request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
@ -55,10 +55,6 @@ void AddFixedFramePoseDataHandler::OnRequest(
}
}
void AddFixedFramePoseDataHandler::OnReadsDone() {
Send(common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cloud
} // namespace cartographer

7
cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h
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@ -18,6 +18,7 @@
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
@ -32,10 +33,10 @@ DEFINE_HANDLER_SIGNATURE(
"/cartographer.cloud.proto.MapBuilderService/AddFixedFramePoseData")
class AddFixedFramePoseDataHandler
: public async_grpc::RpcHandler<AddFixedFramePoseDataSignature> {
: public AddSensorDataHandlerBase<AddFixedFramePoseDataSignature> {
public:
void OnRequest(const proto::AddFixedFramePoseDataRequest &request) override;
void OnReadsDone() override;
void OnSensorData(
const proto::AddFixedFramePoseDataRequest& request) override;
};
} // namespace handlers

10
cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler_test.cc
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@ -56,6 +56,11 @@ TEST_F(AddFixedFramePoseDataHandlerTest, NoLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetNoLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
@ -70,6 +75,11 @@ TEST_F(AddFixedFramePoseDataHandlerTest, WithMockLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetMockLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),

6
cartographer/cloud/internal/handlers/add_imu_data_handler.cc
View File

@ -29,7 +29,7 @@ namespace cartographer {
namespace cloud {
namespace handlers {
void AddImuDataHandler::OnRequest(const proto::AddImuDataRequest &request) {
void AddImuDataHandler::OnSensorData(const proto::AddImuDataRequest& request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
@ -52,10 +52,6 @@ void AddImuDataHandler::OnRequest(const proto::AddImuDataRequest &request) {
}
}
void AddImuDataHandler::OnReadsDone() {
Send(common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cloud
} // namespace cartographer

6
cartographer/cloud/internal/handlers/add_imu_data_handler.h
View File

@ -18,6 +18,7 @@
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
@ -30,10 +31,9 @@ DEFINE_HANDLER_SIGNATURE(
google::protobuf::Empty,
"/cartographer.cloud.proto.MapBuilderService/AddImuData")
class AddImuDataHandler : public async_grpc::RpcHandler<AddImuDataSignature> {
class AddImuDataHandler : public AddSensorDataHandlerBase<AddImuDataSignature> {
public:
void OnRequest(const proto::AddImuDataRequest &request) override;
void OnReadsDone() override;
void OnSensorData(const proto::AddImuDataRequest& request) override;
};
} // namespace handlers

10
cartographer/cloud/internal/handlers/add_imu_data_handler_test.cc
View File

@ -53,6 +53,11 @@ TEST_F(AddImuDataHandlerTest, NoLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetNoLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
@ -67,6 +72,11 @@ TEST_F(AddImuDataHandlerTest, WithMockLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetMockLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),

8
cartographer/cloud/internal/handlers/add_landmark_data_handler.cc
View File

@ -29,8 +29,8 @@ namespace cartographer {
namespace cloud {
namespace handlers {
void AddLandmarkDataHandler::OnRequest(
const proto::AddLandmarkDataRequest &request) {
void AddLandmarkDataHandler::OnSensorData(
const proto::AddLandmarkDataRequest& request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
@ -53,10 +53,6 @@ void AddLandmarkDataHandler::OnRequest(
}
}
void AddLandmarkDataHandler::OnReadsDone() {
Send(common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cloud
} // namespace cartographer

6
cartographer/cloud/internal/handlers/add_landmark_data_handler.h
View File

@ -18,6 +18,7 @@
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
@ -31,10 +32,9 @@ DEFINE_HANDLER_SIGNATURE(
"/cartographer.cloud.proto.MapBuilderService/AddLandmarkData")
class AddLandmarkDataHandler
: public async_grpc::RpcHandler<AddLandmarkDataSignature> {
: public AddSensorDataHandlerBase<AddLandmarkDataSignature> {
public:
void OnRequest(const proto::AddLandmarkDataRequest &request) override;
void OnReadsDone() override;
void OnSensorData(const proto::AddLandmarkDataRequest& request) override;
};
} // namespace handlers

10
cartographer/cloud/internal/handlers/add_landmark_data_handler_test.cc
View File

@ -60,6 +60,11 @@ TEST_F(AddLandmarkDataHandlerTest, NoLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetNoLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
@ -74,6 +79,11 @@ TEST_F(AddLandmarkDataHandlerTest, WithMockLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetMockLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),

8
cartographer/cloud/internal/handlers/add_odometry_data_handler.cc
View File

@ -29,8 +29,8 @@ namespace cartographer {
namespace cloud {
namespace handlers {
void AddOdometryDataHandler::OnRequest(
const proto::AddOdometryDataRequest &request) {
void AddOdometryDataHandler::OnSensorData(
const proto::AddOdometryDataRequest& request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
@ -53,10 +53,6 @@ void AddOdometryDataHandler::OnRequest(
}
}
void AddOdometryDataHandler::OnReadsDone() {
Send(common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cloud
} // namespace cartographer

6
cartographer/cloud/internal/handlers/add_odometry_data_handler.h
View File

@ -18,6 +18,7 @@
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
@ -31,10 +32,9 @@ DEFINE_HANDLER_SIGNATURE(
"/cartographer.cloud.proto.MapBuilderService/AddOdometryData")
class AddOdometryDataHandler
: public async_grpc::RpcHandler<AddOdometryDataSignature> {
: public AddSensorDataHandlerBase<AddOdometryDataSignature> {
public:
void OnRequest(const proto::AddOdometryDataRequest &request) override;
void OnReadsDone() override;
void OnSensorData(const proto::AddOdometryDataRequest& request) override;
};
} // namespace handlers

10
cartographer/cloud/internal/handlers/add_odometry_data_handler_test.cc
View File

@ -55,6 +55,11 @@ TEST_F(AddOdometryDataHandlerTest, NoLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetNoLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),
@ -69,6 +74,11 @@ TEST_F(AddOdometryDataHandlerTest, WithMockLocalSlamUploader) {
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
SetMockLocalTrajectoryUploader();
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),

8
cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc
View File

@ -28,8 +28,8 @@ namespace cartographer {
namespace cloud {
namespace handlers {
void AddRangefinderDataHandler::OnRequest(
const proto::AddRangefinderDataRequest &request) {
void AddRangefinderDataHandler::OnSensorData(
const proto::AddRangefinderDataRequest& request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
@ -40,10 +40,6 @@ void AddRangefinderDataHandler::OnRequest(
sensor::FromProto(request.timed_point_cloud_data())));
}
void AddRangefinderDataHandler::OnReadsDone() {
Send(common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cloud
} // namespace cartographer

6
cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h
View File

@ -18,6 +18,7 @@
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
@ -32,10 +33,9 @@ DEFINE_HANDLER_SIGNATURE(
"/cartographer.cloud.proto.MapBuilderService/AddRangefinderData")
class AddRangefinderDataHandler
: public async_grpc::RpcHandler<AddRangefinderDataSignature> {
: public AddSensorDataHandlerBase<AddRangefinderDataSignature> {
public:
void OnRequest(const proto::AddRangefinderDataRequest &request) override;
void OnReadsDone() override;
void OnSensorData(const proto::AddRangefinderDataRequest& request) override;
};
} // namespace handlers

5
cartographer/cloud/internal/handlers/add_rangefinder_data_handler_test.cc
View File

@ -53,6 +53,11 @@ TEST_F(AddRangefinderDataHandlerTest, NoLocalSlamUploader) {
proto::AddRangefinderDataRequest request;
EXPECT_TRUE(
google::protobuf::TextFormat::ParseFromString(kMessage, &request));
EXPECT_CALL(
*mock_map_builder_context_,
CheckClientIdForTrajectory(Eq(request.sensor_metadata().client_id()),
Eq(request.sensor_metadata().trajectory_id())))
.WillOnce(::testing::Return(true));
EXPECT_CALL(*mock_map_builder_context_,
DoEnqueueSensorData(
Eq(request.sensor_metadata().trajectory_id()),

10
cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.cc
View File

@ -32,6 +32,16 @@ namespace handlers {
void AddSensorDataBatchHandler::OnRequest(
const proto::AddSensorDataBatchRequest& request) {
for (const proto::SensorData& sensor_data : request.sensor_data()) {
if (!GetContext<MapBuilderContextInterface>()->CheckClientIdForTrajectory(
sensor_data.sensor_metadata().client_id(),
sensor_data.sensor_metadata().trajectory_id())) {
LOG(ERROR) << "Unknown trajectory with ID "
<< sensor_data.sensor_metadata().trajectory_id()
<< " and client_id "
<< sensor_data.sensor_metadata().client_id();
Finish(::grpc::Status(::grpc::NOT_FOUND, "Unknown trajectory"));
return;
}
switch (sensor_data.sensor_data_case()) {
case proto::SensorData::kOdometryData:
GetUnsynchronizedContext<MapBuilderContextInterface>()

61
cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h Normal file
View File

@ -0,0 +1,61 @@
/*
* 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_CLOUD_INTERNAL_HANDLERS_ADD_SENSOR_DATA_HANDLER_BASE_H
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_SENSOR_DATA_HANDLER_BASE_H
#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/map_builder_context_interface.h"
namespace cartographer {
namespace cloud {
namespace handlers {
template <typename HandlerSignatureType>
class AddSensorDataHandlerBase
: public async_grpc::RpcHandler<HandlerSignatureType> {
public:
using SensorDataType =
async_grpc::StripStream<typename HandlerSignatureType::IncomingType>;
void OnRequest(const SensorDataType& request) override {
if (!this->template GetContext<
cartographer::cloud::MapBuilderContextInterface>()
->CheckClientIdForTrajectory(
request.sensor_metadata().client_id(),
request.sensor_metadata().trajectory_id())) {
LOG(ERROR) << "Unknown trajectory with ID "
<< request.sensor_metadata().trajectory_id()
<< " and client_id " << request.sensor_metadata().client_id();
this->template Finish(
::grpc::Status(::grpc::NOT_FOUND, "Unknown trajectory"));
return;
}
OnSensorData(request);
}
virtual void OnSensorData(const SensorDataType& request) = 0;
void OnReadsDone() override {
this->template Send(common::make_unique<google::protobuf::Empty>());
}
};
} // namespace handlers
} // namespace cloud
} // namespace cartographer
#endif // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_SENSOR_DATA_HANDLER_BASE_H