Introduce skeletons for various stubs. (#752)
Adds skeletons for * MapBuilderStub * PoseGraphStub * TrajectoryBuilderStub [RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)master
Christoph Schütte
Wally B. Feed
parent
636f3bbc2f
commit
69787f288f
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/*
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* Copyright 2017 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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#include "cartographer_grpc/mapping/map_builder_stub.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace mapping {
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MapBuilderStub::MapBuilderStub(const std::string& server_address)
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: client_channel_(grpc::CreateChannel(server_address,
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grpc::InsecureChannelCredentials())),
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service_stub_(proto::MapBuilderService::NewStub(client_channel_)),
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pose_graph_stub_(client_channel_, service_stub_.get()) {}
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int MapBuilderStub::AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) {
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proto::AddTrajectoryRequest request;
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proto::AddTrajectoryResponse result;
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*request.mutable_trajectory_builder_options() = trajectory_options;
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for (const auto& sensor_id : expected_sensor_ids) {
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*request.add_expected_sensor_ids() = sensor_id;
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}
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grpc::Status status =
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service_stub_->AddTrajectory(&client_context_, request, &result);
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CHECK(status.ok());
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// Construct trajectory builder stub.
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trajectory_builder_stubs_.emplace(
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std::piecewise_construct, std::forward_as_tuple(result.trajectory_id()),
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std::forward_as_tuple(cartographer::common::make_unique<
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cartographer_grpc::mapping::TrajectoryBuilderStub>(
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client_channel_, service_stub_.get())));
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return result.trajectory_id();
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}
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int MapBuilderStub::AddTrajectoryForDeserialization() {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::TrajectoryBuilderInterface*
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MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
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return trajectory_builder_stubs_.at(trajectory_id).get();
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}
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void MapBuilderStub::FinishTrajectory(int trajectory_id) {
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proto::FinishTrajectoryRequest request;
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google::protobuf::Empty response;
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request.set_trajectory_id(trajectory_id);
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grpc::Status status =
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service_stub_->FinishTrajectory(&client_context_, request, &response);
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CHECK(status.ok());
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trajectory_builder_stubs_.erase(trajectory_id);
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}
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std::string MapBuilderStub::SubmapToProto(
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const cartographer::mapping::SubmapId& submap_id,
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cartographer::mapping::proto::SubmapQuery::Response* response) {
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LOG(FATAL) << "Not implemented";
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}
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void MapBuilderStub::SerializeState(
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cartographer::io::ProtoStreamWriter* writer) {
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LOG(FATAL) << "Not implemented";
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}
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void MapBuilderStub::LoadMap(cartographer::io::ProtoStreamReader* reader) {
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LOG(FATAL) << "Not implemented";
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}
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int MapBuilderStub::num_trajectory_builders() const {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::PoseGraphInterface* MapBuilderStub::pose_graph() {
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return &pose_graph_stub_;
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_MAPPING_MAP_BUILDER_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_
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#include <memory>
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer_grpc/mapping/pose_graph_stub.h"
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#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
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public:
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MapBuilderStub(const std::string& server_address);
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MapBuilderStub(const MapBuilderStub&) = delete;
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MapBuilderStub& operator=(const MapBuilderStub&) = delete;
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int AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) override;
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int AddTrajectoryForDeserialization() override;
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cartographer::mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
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int trajectory_id) const override;
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void FinishTrajectory(int trajectory_id) override;
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std::string SubmapToProto(
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const cartographer::mapping::SubmapId& submap_id,
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cartographer::mapping::proto::SubmapQuery::Response* response) override;
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void SerializeState(cartographer::io::ProtoStreamWriter* writer) override;
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void LoadMap(cartographer::io::ProtoStreamReader* reader) override;
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int num_trajectory_builders() const override;
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cartographer::mapping::PoseGraphInterface* pose_graph() override;
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private:
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grpc::ClientContext client_context_;
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std::shared_ptr<grpc::Channel> client_channel_;
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std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
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PoseGraphStub pose_graph_stub_;
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std::map<int, std::unique_ptr<TrajectoryBuilderStub>>
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trajectory_builder_stubs_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_
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/*
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* Copyright 2017 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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#include "cartographer_grpc/mapping/pose_graph_stub.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace mapping {
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PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub)
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: client_channel_(client_channel), stub_(stub) {}
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void PoseGraphStub::RunFinalOptimization() { LOG(FATAL) << "Not implemented"; }
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cartographer::mapping::MapById<
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cartographer::mapping::SubmapId,
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cartographer::mapping::PoseGraphInterface::SubmapData>
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GetAllSubmapData() {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::transform::Rigid3d PoseGraphStub::GetLocalToGlobalTransform(
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int trajectory_id) {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNode>
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GetTrajectoryNodes() {
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LOG(FATAL) << "Not implemented";
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}
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bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) {
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LOG(FATAL) << "Not implemented";
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}
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std::vector<cartographer::mapping::PoseGraphInterface::Constraint>
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PoseGraphStub::constraints() {
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LOG(FATAL) << "Not implemented";
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_MAPPING_POSE_GRAPH_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class PoseGraphStub : public cartographer::mapping::PoseGraphInterface {
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public:
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PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub);
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PoseGraphStub(const PoseGraphStub&) = delete;
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PoseGraphStub& operator=(const PoseGraphStub&) = delete;
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void RunFinalOptimization() override;
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cartographer::mapping::MapById<cartographer::mapping::SubmapId, SubmapData>
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GetAllSubmapData() override;
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cartographer::transform::Rigid3d GetLocalToGlobalTransform(
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int trajectory_id) override;
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNode>
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GetTrajectoryNodes() override;
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bool IsTrajectoryFinished(int trajectory_id) override;
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std::vector<Constraint> constraints() override;
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private:
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std::shared_ptr<grpc::Channel> client_channel_;
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proto::MapBuilderService::Stub* stub_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
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/*
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* Copyright 2017 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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#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace mapping {
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TrajectoryBuilderStub::TrajectoryBuilderStub(
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std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub)
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: client_channel_(client_channel), stub_(stub) {}
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void TrajectoryBuilderStub::AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::TimedPointCloudData& timed_point_cloud_data) {
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LOG(FATAL) << "Not implemented";
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}
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void TrajectoryBuilderStub::AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::ImuData& imu_data) {
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LOG(FATAL) << "Not implemented";
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}
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void TrajectoryBuilderStub::AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::OdometryData& odometry_data) {
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LOG(FATAL) << "Not implemented";
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}
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void TrajectoryBuilderStub::AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::FixedFramePoseData& fixed_frame_pose) {
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LOG(FATAL) << "Not implemented";
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class TrajectoryBuilderStub
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: public cartographer::mapping::TrajectoryBuilderInterface {
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public:
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TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub);
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|
TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
|
||||||
|
TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
|
||||||
|
|
||||||
|
void AddSensorData(const std::string& sensor_id,
|
||||||
|
const cartographer::sensor::TimedPointCloudData&
|
||||||
|
timed_point_cloud_data) override;
|
||||||
|
void AddSensorData(const std::string& sensor_id,
|
||||||
|
const cartographer::sensor::ImuData& imu_data) override;
|
||||||
|
void AddSensorData(
|
||||||
|
const std::string& sensor_id,
|
||||||
|
const cartographer::sensor::OdometryData& odometry_data) override;
|
||||||
|
void AddSensorData(const std::string& sensor_id,
|
||||||
|
const cartographer::sensor::FixedFramePoseData&
|
||||||
|
fixed_frame_pose) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
std::shared_ptr<grpc::Channel> client_channel_;
|
||||||
|
proto::MapBuilderService::Stub* stub_;
|
||||||
|
};
|
||||||
|
|
||||||
|
} // namespace mapping
|
||||||
|
} // namespace cartographer_grpc
|
||||||
|
|
||||||
|
#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
|
||||||
Loading…
Reference in New Issue