Move handlers to cc, use MapBuilderContextInterface (#873)

This is to avoid a circular dependency with LocalTrajectoryUploader and to clean up.

cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.cc

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/fixed_frame_pose_data.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "cartographer_grpc/sensor/serialization.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddFixedFramePoseDataHandler::OnRequest(
+    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'.
+  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
+      request.sensor_metadata().trajectory_id(),
+      cartographer::sensor::MakeDispatchable(
+          request.sensor_metadata().sensor_id(),
+          cartographer::sensor::FromProto(request.fixed_frame_pose_data())));
+
+  // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
+  // Therefore it suffices to get an unsynchronized reference to the
+  // 'MapBuilderContext'.
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    auto data_request = cartographer::common::make_unique<
+        proto::AddFixedFramePoseDataRequest>();
+    sensor::CreateAddFixedFramePoseDataRequest(
+        request.sensor_metadata().sensor_id(),
+        request.sensor_metadata().trajectory_id(),
+        request.fixed_frame_pose_data(), data_request.get());
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->EnqueueDataRequest(std::move(data_request));
+  }
+}
+
+void AddFixedFramePoseDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h

@@ -17,11 +17,8 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
-#include "cartographer_grpc/sensor/serialization.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer_grpc {
@@ -35,36 +32,8 @@ class AddFixedFramePoseDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddFixedFramePoseData";
   }
-  void OnRequest(const proto::AddFixedFramePoseDataRequest &request) override {
+  void OnRequest(const proto::AddFixedFramePoseDataRequest &request) override;
-    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
+  void OnReadsDone() override;
-    // thread-safe. Therefore it suffices to get an unsynchronized reference to
-    // the 'MapBuilderContext'.
-    GetUnsynchronizedContext<MapBuilderContext>()->EnqueueSensorData(
-        request.sensor_metadata().trajectory_id(),
-        cartographer::sensor::MakeDispatchable(
-            request.sensor_metadata().sensor_id(),
-            cartographer::sensor::FromProto(request.fixed_frame_pose_data())));
-
-    // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
-    // Therefore it suffices to get an unsynchronized reference to the
-    // 'MapBuilderContext'.
-    if (GetUnsynchronizedContext<MapBuilderContext>()
-            ->local_trajectory_uploader()) {
-      auto data_request = cartographer::common::make_unique<
-          proto::AddFixedFramePoseDataRequest>();
-      sensor::CreateAddFixedFramePoseDataRequest(
-          request.sensor_metadata().sensor_id(),
-          request.sensor_metadata().trajectory_id(),
-          request.fixed_frame_pose_data(), data_request.get());
-      GetUnsynchronizedContext<MapBuilderContext>()
-          ->local_trajectory_uploader()
-          ->EnqueueDataRequest(std::move(data_request));
-    }
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_imu_data_handler.cc

@@ -0,0 +1,62 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_imu_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/imu_data.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "cartographer_grpc/sensor/serialization.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddImuDataHandler::OnRequest(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'.
+  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
+      request.sensor_metadata().trajectory_id(),
+      cartographer::sensor::MakeDispatchable(
+          request.sensor_metadata().sensor_id(),
+          cartographer::sensor::FromProto(request.imu_data())));
+
+  // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
+  // Therefore it suffices to get an unsynchronized reference to the
+  // 'MapBuilderContext'.
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    auto data_request =
+        cartographer::common::make_unique<proto::AddImuDataRequest>();
+    sensor::CreateAddImuDataRequest(request.sensor_metadata().sensor_id(),
+                                    request.sensor_metadata().trajectory_id(),
+                                    request.imu_data(), data_request.get());
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->EnqueueDataRequest(std::move(data_request));
+  }
+}
+
+void AddImuDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_imu_data_handler.h

@@ -17,11 +17,8 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_IMU_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_IMU_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
-#include "cartographer_grpc/sensor/serialization.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer_grpc {
@@ -34,35 +31,8 @@ class AddImuDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddImuData";
   }
-  void OnRequest(const proto::AddImuDataRequest &request) override {
+  void OnRequest(const proto::AddImuDataRequest &request) override;
-    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
+  void OnReadsDone() override;
-    // thread-safe. Therefore it suffices to get an unsynchronized reference to
-    // the 'MapBuilderContext'.
-    GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
-        request.sensor_metadata().trajectory_id(),
-        cartographer::sensor::MakeDispatchable(
-            request.sensor_metadata().sensor_id(),
-            cartographer::sensor::FromProto(request.imu_data())));
-
-    // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
-    // Therefore it suffices to get an unsynchronized reference to the
-    // 'MapBuilderContext'.
-    if (GetUnsynchronizedContext<MapBuilderContextInterface>()
-            ->local_trajectory_uploader()) {
-      auto data_request =
-          cartographer::common::make_unique<proto::AddImuDataRequest>();
-      sensor::CreateAddImuDataRequest(request.sensor_metadata().sensor_id(),
-                                      request.sensor_metadata().trajectory_id(),
-                                      request.imu_data(), data_request.get());
-      GetUnsynchronizedContext<MapBuilderContextInterface>()
-          ->local_trajectory_uploader()
-          ->EnqueueDataRequest(std::move(data_request));
-    }
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_imu_data_handler_test.cc

@@ -16,6 +16,7 @@
 
 #include "cartographer_grpc/handlers/add_imu_data_handler.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
 #include "cartographer_grpc/framework/testing/rpc_handler_test_server.h"
 #include "cartographer_grpc/testing/mock_local_trajectory_uploader.h"
 #include "cartographer_grpc/testing/mock_map_builder_context.h"

cartographer_grpc/handlers/add_landmark_data_handler.cc

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/landmark_data.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "cartographer_grpc/sensor/serialization.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddLandmarkDataHandler::OnRequest(
+    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'.
+  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
+      request.sensor_metadata().trajectory_id(),
+      cartographer::sensor::MakeDispatchable(
+          request.sensor_metadata().sensor_id(),
+          cartographer::sensor::FromProto(request.landmark_data())));
+
+  // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
+  // Therefore it suffices to get an unsynchronized reference to the
+  // 'MapBuilderContext'.
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    auto data_request =
+        cartographer::common::make_unique<proto::AddLandmarkDataRequest>();
+    sensor::CreateAddLandmarkDataRequest(
+        request.sensor_metadata().sensor_id(),
+        request.sensor_metadata().trajectory_id(), request.landmark_data(),
+        data_request.get());
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->EnqueueDataRequest(std::move(data_request));
+  }
+}
+
+void AddLandmarkDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_landmark_data_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,36 +32,8 @@ class AddLandmarkDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddLandmarkData";
   }
-  void OnRequest(const proto::AddLandmarkDataRequest &request) override {
+  void OnRequest(const proto::AddLandmarkDataRequest &request) override;
-    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
+  void OnReadsDone() override;
-    // thread-safe. Therefore it suffices to get an unsynchronized reference to
-    // the 'MapBuilderContext'.
-    GetUnsynchronizedContext<MapBuilderContext>()->EnqueueSensorData(
-        request.sensor_metadata().trajectory_id(),
-        cartographer::sensor::MakeDispatchable(
-            request.sensor_metadata().sensor_id(),
-            cartographer::sensor::FromProto(request.landmark_data())));
-
-    // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
-    // Therefore it suffices to get an unsynchronized reference to the
-    // 'MapBuilderContext'.
-    if (GetUnsynchronizedContext<MapBuilderContext>()
-            ->local_trajectory_uploader()) {
-      auto data_request =
-          cartographer::common::make_unique<proto::AddLandmarkDataRequest>();
-      sensor::CreateAddLandmarkDataRequest(
-          request.sensor_metadata().sensor_id(),
-          request.sensor_metadata().trajectory_id(), request.landmark_data(),
-          data_request.get());
-      GetUnsynchronizedContext<MapBuilderContext>()
-          ->local_trajectory_uploader()
-          ->EnqueueDataRequest(std::move(data_request));
-    }
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_local_slam_result_data_handler.cc

@@ -0,0 +1,49 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/local_slam_result_data.h"
+#include "cartographer/mapping/trajectory_node.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddLocalSlamResultDataHandler::OnRequest(
+    const proto::AddLocalSlamResultDataRequest& request) {
+  auto local_slam_result_data =
+      GetContext<MapBuilderContextInterface>()->ProcessLocalSlamResultData(
+          request.sensor_metadata().sensor_id(),
+          cartographer::common::FromUniversal(
+              request.local_slam_result_data().timestamp()),
+          request.local_slam_result_data());
+  GetContext<MapBuilderContextInterface>()->EnqueueLocalSlamResultData(
+      request.sensor_metadata().trajectory_id(),
+      request.sensor_metadata().sensor_id(), std::move(local_slam_result_data));
+}
+
+void AddLocalSlamResultDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_local_slam_result_data_handler.h

@@ -17,10 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
-#include "cartographer/mapping/trajectory_node.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -35,22 +32,8 @@ class AddLocalSlamResultDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddLocalSlamResultData";
   }
-  void OnRequest(const proto::AddLocalSlamResultDataRequest& request) override {
+  void OnRequest(const proto::AddLocalSlamResultDataRequest& request) override;
-    auto local_slam_result_data =
+  void OnReadsDone() override;
-        GetContext<MapBuilderContext>()->ProcessLocalSlamResultData(
-            request.sensor_metadata().sensor_id(),
-            cartographer::common::FromUniversal(
-                request.local_slam_result_data().timestamp()),
-            request.local_slam_result_data());
-    GetContext<MapBuilderContext>()->EnqueueLocalSlamResultData(
-        request.sensor_metadata().trajectory_id(),
-        request.sensor_metadata().sensor_id(),
-        std::move(local_slam_result_data));
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_odometry_data_handler.cc

@@ -0,0 +1,64 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/odometry_data.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "cartographer_grpc/sensor/serialization.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddOdometryDataHandler::OnRequest(
+    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'.
+  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
+      request.sensor_metadata().trajectory_id(),
+      cartographer::sensor::MakeDispatchable(
+          request.sensor_metadata().sensor_id(),
+          cartographer::sensor::FromProto(request.odometry_data())));
+
+  // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
+  // Therefore it suffices to get an unsynchronized reference to the
+  // 'MapBuilderContext'.
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    auto data_request =
+        cartographer::common::make_unique<proto::AddOdometryDataRequest>();
+    sensor::CreateAddOdometryDataRequest(
+        request.sensor_metadata().sensor_id(),
+        request.sensor_metadata().trajectory_id(), request.odometry_data(),
+        data_request.get());
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->EnqueueDataRequest(std::move(data_request));
+  }
+}
+
+void AddOdometryDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_odometry_data_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,36 +32,8 @@ class AddOdometryDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddOdometryData";
   }
-  void OnRequest(const proto::AddOdometryDataRequest &request) override {
+  void OnRequest(const proto::AddOdometryDataRequest &request) override;
-    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
+  void OnReadsDone() override;
-    // thread-safe. Therefore it suffices to get an unsynchronized reference to
-    // the 'MapBuilderContext'.
-    GetUnsynchronizedContext<MapBuilderContext>()->EnqueueSensorData(
-        request.sensor_metadata().trajectory_id(),
-        cartographer::sensor::MakeDispatchable(
-            request.sensor_metadata().sensor_id(),
-            cartographer::sensor::FromProto(request.odometry_data())));
-
-    // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
-    // Therefore it suffices to get an unsynchronized reference to the
-    // 'MapBuilderContext'.
-    if (GetUnsynchronizedContext<MapBuilderContext>()
-            ->local_trajectory_uploader()) {
-      auto data_request =
-          cartographer::common::make_unique<proto::AddOdometryDataRequest>();
-      sensor::CreateAddOdometryDataRequest(
-          request.sensor_metadata().sensor_id(),
-          request.sensor_metadata().trajectory_id(), request.odometry_data(),
-          data_request.get());
-      GetUnsynchronizedContext<MapBuilderContext>()
-          ->local_trajectory_uploader()
-          ->EnqueueDataRequest(std::move(data_request));
-    }
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_rangefinder_data_handler.cc

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/timed_point_cloud_data.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddRangefinderDataHandler::OnRequest(
+    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'.
+  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
+      request.sensor_metadata().trajectory_id(),
+      cartographer::sensor::MakeDispatchable(
+          request.sensor_metadata().sensor_id(),
+          cartographer::sensor::FromProto(request.timed_point_cloud_data())));
+}
+
+void AddRangefinderDataHandler::OnReadsDone() {
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_rangefinder_data_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,20 +32,8 @@ class AddRangefinderDataHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddRangefinderData";
   }
-  void OnRequest(const proto::AddRangefinderDataRequest &request) override {
+  void OnRequest(const proto::AddRangefinderDataRequest &request) override;
-    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
+  void OnReadsDone() override;
-    // thread-safe. Therefore it suffices to get an unsynchronized reference to
-    // the 'MapBuilderContext'.
-    GetUnsynchronizedContext<MapBuilderContext>()->EnqueueSensorData(
-        request.sensor_metadata().trajectory_id(),
-        cartographer::sensor::MakeDispatchable(
-            request.sensor_metadata().sensor_id(),
-            cartographer::sensor::FromProto(request.timed_point_cloud_data())));
-  }
-
-  void OnReadsDone() override {
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/add_trajectory_handler.cc

@@ -0,0 +1,67 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/add_trajectory_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "cartographer_grpc/sensor/serialization.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void AddTrajectoryHandler::OnRequest(
+    const proto::AddTrajectoryRequest& request) {
+  auto local_slam_result_callback =
+      GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->GetLocalSlamResultCallbackForSubscriptions();
+  std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
+      expected_sensor_ids;
+  for (const auto& sensor_id : request.expected_sensor_ids()) {
+    expected_sensor_ids.insert(sensor::FromProto(sensor_id));
+  }
+  const int trajectory_id =
+      GetContext<MapBuilderContextInterface>()
+          ->map_builder()
+          .AddTrajectoryBuilder(expected_sensor_ids,
+                                request.trajectory_builder_options(),
+                                local_slam_result_callback);
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    auto trajectory_builder_options = request.trajectory_builder_options();
+
+    // Clear the trajectory builder options to convey to the cloud
+    // Cartographer instance that does not need to instantiate a
+    // 'LocalTrajectoryBuilder'.
+    trajectory_builder_options.clear_trajectory_builder_2d_options();
+    trajectory_builder_options.clear_trajectory_builder_3d_options();
+
+    GetContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->AddTrajectory(trajectory_id, expected_sensor_ids,
+                        trajectory_builder_options);
+  }
+
+  auto response =
+      cartographer::common::make_unique<proto::AddTrajectoryResponse>();
+  response->set_trajectory_id(trajectory_id);
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/add_trajectory_handler.h

@@ -17,11 +17,8 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
-#include "cartographer_grpc/sensor/serialization.h"
 
 namespace cartographer_grpc {
 namespace handlers {
@@ -33,40 +30,7 @@ class AddTrajectoryHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/AddTrajectory";
   }
-  void OnRequest(const proto::AddTrajectoryRequest& request) override {
+  void OnRequest(const proto::AddTrajectoryRequest& request) override;
-    auto local_slam_result_callback =
-        GetUnsynchronizedContext<MapBuilderContext>()
-            ->GetLocalSlamResultCallbackForSubscriptions();
-    std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
-        expected_sensor_ids;
-    for (const auto& sensor_id : request.expected_sensor_ids()) {
-      expected_sensor_ids.insert(sensor::FromProto(sensor_id));
-    }
-    const int trajectory_id =
-        GetContext<MapBuilderContext>()->map_builder().AddTrajectoryBuilder(
-            expected_sensor_ids, request.trajectory_builder_options(),
-            local_slam_result_callback);
-    if (GetUnsynchronizedContext<MapBuilderContext>()
-            ->local_trajectory_uploader()) {
-      auto trajectory_builder_options = request.trajectory_builder_options();
-
-      // Clear the trajectory builder options to convey to the cloud
-      // Cartographer instance that does not need to instantiate a
-      // 'LocalTrajectoryBuilder'.
-      trajectory_builder_options.clear_trajectory_builder_2d_options();
-      trajectory_builder_options.clear_trajectory_builder_3d_options();
-
-      GetContext<MapBuilderContext>()
-          ->local_trajectory_uploader()
-          ->AddTrajectory(trajectory_id, expected_sensor_ids,
-                          trajectory_builder_options);
-    }
-
-    auto response =
-        cartographer::common::make_unique<proto::AddTrajectoryResponse>();
-    response->set_trajectory_id(trajectory_id);
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/finish_trajectory_handler.cc

@@ -0,0 +1,44 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void FinishTrajectoryHandler::OnRequest(
+    const proto::FinishTrajectoryRequest& request) {
+  GetContext<MapBuilderContextInterface>()->map_builder().FinishTrajectory(
+      request.trajectory_id());
+  GetUnsynchronizedContext<MapBuilderContextInterface>()
+      ->NotifyFinishTrajectory(request.trajectory_id());
+  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->local_trajectory_uploader()) {
+    GetContext<MapBuilderContextInterface>()
+        ->local_trajectory_uploader()
+        ->FinishTrajectory(request.trajectory_id());
+  }
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/finish_trajectory_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -33,19 +31,7 @@ class FinishTrajectoryHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/FinishTrajectory";
   }
-  void OnRequest(const proto::FinishTrajectoryRequest& request) override {
+  void OnRequest(const proto::FinishTrajectoryRequest& request) override;
-    GetContext<MapBuilderContext>()->map_builder().FinishTrajectory(
-        request.trajectory_id());
-    GetUnsynchronizedContext<MapBuilderContext>()->NotifyFinishTrajectory(
-        request.trajectory_id());
-    if (GetUnsynchronizedContext<MapBuilderContext>()
-            ->local_trajectory_uploader()) {
-      GetContext<MapBuilderContext>()
-          ->local_trajectory_uploader()
-          ->FinishTrajectory(request.trajectory_id());
-    }
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/get_all_submap_poses.cc

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/get_all_submap_poses.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void GetAllSubmapPosesHandler::OnRequest(
+    const google::protobuf::Empty& request) {
+  auto submap_poses = GetContext<MapBuilderContextInterface>()
+                          ->map_builder()
+                          .pose_graph()
+                          ->GetAllSubmapPoses();
+  auto response =
+      cartographer::common::make_unique<proto::GetAllSubmapPosesResponse>();
+  for (const auto& submap_id_pose : submap_poses) {
+    auto* submap_pose = response->add_submap_poses();
+    submap_id_pose.id.ToProto(submap_pose->mutable_submap_id());
+    submap_pose->set_submap_version(submap_id_pose.data.version);
+    *submap_pose->mutable_global_pose() =
+        cartographer::transform::ToProto(submap_id_pose.data.pose);
+  }
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/get_all_submap_poses.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
 #define CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -33,22 +31,7 @@ class GetAllSubmapPosesHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/GetAllSubmapPoses";
   }
-  void OnRequest(const google::protobuf::Empty& request) override {
+  void OnRequest(const google::protobuf::Empty& request) override;
-    auto submap_poses = GetContext<MapBuilderContext>()
-                            ->map_builder()
-                            .pose_graph()
-                            ->GetAllSubmapPoses();
-    auto response =
-        cartographer::common::make_unique<proto::GetAllSubmapPosesResponse>();
-    for (const auto& submap_id_pose : submap_poses) {
-      auto* submap_pose = response->add_submap_poses();
-      submap_id_pose.id.ToProto(submap_pose->mutable_submap_id());
-      submap_pose->set_submap_version(submap_id_pose.data.version);
-      *submap_pose->mutable_global_pose() =
-          cartographer::transform::ToProto(submap_id_pose.data.pose);
-    }
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/get_constraints_handler.cc

@@ -0,0 +1,44 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/get_constraints_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/pose_graph.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void GetConstraintsHandler::OnRequest(const google::protobuf::Empty& request) {
+  auto constraints = GetContext<MapBuilderContextInterface>()
+                         ->map_builder()
+                         .pose_graph()
+                         ->constraints();
+  auto response =
+      cartographer::common::make_unique<proto::GetConstraintsResponse>();
+  response->mutable_constraints()->Reserve(constraints.size());
+  for (const auto& constraint : constraints) {
+    *response->add_constraints() = cartographer::mapping::ToProto(constraint);
+  }
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/get_constraints_handler.h

@@ -17,10 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
-#include "cartographer/mapping/pose_graph.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,19 +31,7 @@ class GetConstraintsHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/GetConstraints";
   }
-  void OnRequest(const google::protobuf::Empty& request) override {
+  void OnRequest(const google::protobuf::Empty& request) override;
-    auto constraints = GetContext<MapBuilderContext>()
-                           ->map_builder()
-                           .pose_graph()
-                           ->constraints();
-    auto response =
-        cartographer::common::make_unique<proto::GetConstraintsResponse>();
-    response->mutable_constraints()->Reserve(constraints.size());
-    for (const auto& constraint : constraints) {
-      *response->add_constraints() = cartographer::mapping::ToProto(constraint);
-    }
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/get_local_to_global_transform_handler.cc

@@ -0,0 +1,42 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
+
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void GetLocalToGlobalTransformHandler::OnRequest(
+    const proto::GetLocalToGlobalTransformRequest& request) {
+  auto response = cartographer::common::make_unique<
+      proto::GetLocalToGlobalTransformResponse>();
+  auto local_to_global =
+      GetContext<MapBuilderContextInterface>()
+          ->map_builder()
+          .pose_graph()
+          ->GetLocalToGlobalTransform(request.trajectory_id());
+  *response->mutable_local_to_global() =
+      cartographer::transform::ToProto(local_to_global);
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/get_local_to_global_transform_handler.h

@@ -17,6 +17,10 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
 
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
 namespace cartographer_grpc {
 namespace handlers {
 
@@ -29,18 +33,7 @@ class GetLocalToGlobalTransformHandler
            "GetLocalToGlobalTransform";
   }
   void OnRequest(
-      const proto::GetLocalToGlobalTransformRequest& request) override {
+      const proto::GetLocalToGlobalTransformRequest& request) override;
-    auto response = cartographer::common::make_unique<
-        proto::GetLocalToGlobalTransformResponse>();
-    auto local_to_global =
-        GetContext<MapBuilderContext>()
-            ->map_builder()
-            .pose_graph()
-            ->GetLocalToGlobalTransform(request.trajectory_id());
-    *response->mutable_local_to_global() =
-        cartographer::transform::ToProto(local_to_global);
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/get_submap_handler.cc

@@ -0,0 +1,39 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/get_submap_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void GetSubmapHandler::OnRequest(const proto::GetSubmapRequest &request) {
+  auto response = cartographer::common::make_unique<proto::GetSubmapResponse>();
+  response->set_error_msg(
+      GetContext<MapBuilderContextInterface>()->map_builder().SubmapToProto(
+          cartographer::mapping::SubmapId{request.submap_id().trajectory_id(),
+                                          request.submap_id().submap_index()},
+          response->mutable_submap_query_response()));
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/get_submap_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -33,16 +31,7 @@ class GetSubmapHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/GetSubmap";
   }
-  void OnRequest(const proto::GetSubmapRequest &request) override {
+  void OnRequest(const proto::GetSubmapRequest &request) override;
-    auto response =
-        cartographer::common::make_unique<proto::GetSubmapResponse>();
-    response->set_error_msg(
-        GetContext<MapBuilderContext>()->map_builder().SubmapToProto(
-            cartographer::mapping::SubmapId{request.submap_id().trajectory_id(),
-                                            request.submap_id().submap_index()},
-            response->mutable_submap_query_response()));
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/get_trajectory_node_poses_handler.cc

@@ -0,0 +1,47 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void GetTrajectoryNodePosesHandler::OnRequest(
+    const google::protobuf::Empty& request) {
+  auto node_poses = GetContext<MapBuilderContextInterface>()
+                        ->map_builder()
+                        .pose_graph()
+                        ->GetTrajectoryNodePoses();
+  auto response = cartographer::common::make_unique<
+      proto::GetTrajectoryNodePosesResponse>();
+  for (const auto& node_id_pose : node_poses) {
+    auto* node_pose = response->add_node_poses();
+    node_id_pose.id.ToProto(node_pose->mutable_node_id());
+    *node_pose->mutable_global_pose() =
+        cartographer::transform::ToProto(node_id_pose.data.global_pose);
+    node_pose->set_has_constant_data(node_id_pose.data.has_constant_data);
+  }
+  Send(std::move(response));
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/get_trajectory_node_poses_handler.h

@@ -17,9 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -33,22 +31,7 @@ class GetTrajectoryNodePosesHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/GetTrajectoryNodePoses";
   }
-  void OnRequest(const google::protobuf::Empty& request) override {
+  void OnRequest(const google::protobuf::Empty& request) override;
-    auto node_poses = GetContext<MapBuilderContext>()
-                          ->map_builder()
-                          .pose_graph()
-                          ->GetTrajectoryNodePoses();
-    auto response = cartographer::common::make_unique<
-        proto::GetTrajectoryNodePosesResponse>();
-    for (const auto& node_id_pose : node_poses) {
-      auto* node_pose = response->add_node_poses();
-      node_id_pose.id.ToProto(node_pose->mutable_node_id());
-      *node_pose->mutable_global_pose() =
-          cartographer::transform::ToProto(node_id_pose.data.global_pose);
-      node_pose->set_has_constant_data(node_id_pose.data.has_constant_data);
-    }
-    Send(std::move(response));
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/load_map_handler.cc

@@ -0,0 +1,48 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/load_map_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/io/in_memory_proto_stream.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void LoadMapHandler::OnRequest(const proto::LoadMapRequest& request) {
+  switch (request.map_chunk_case()) {
+    case proto::LoadMapRequest::kPoseGraph:
+      reader_.AddProto(request.pose_graph());
+      break;
+    case proto::LoadMapRequest::kSerializedData:
+      reader_.AddProto(request.serialized_data());
+      break;
+    default:
+      LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
+  }
+}
+
+void LoadMapHandler::OnReadsDone() {
+  GetContext<MapBuilderContextInterface>()->map_builder().LoadMap(&reader_);
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/load_map_handler.h

@@ -17,10 +17,8 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
 #include "cartographer/io/in_memory_proto_stream.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,23 +32,8 @@ class LoadMapHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/LoadMap";
   }
-  void OnRequest(const proto::LoadMapRequest& request) override {
+  void OnRequest(const proto::LoadMapRequest& request) override;
-    switch (request.map_chunk_case()) {
+  void OnReadsDone() override;
-      case proto::LoadMapRequest::kPoseGraph:
-        reader_.AddProto(request.pose_graph());
-        break;
-      case proto::LoadMapRequest::kSerializedData:
-        reader_.AddProto(request.serialized_data());
-        break;
-      default:
-        LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
-    }
-  }
-
-  void OnReadsDone() override {
-    GetContext<MapBuilderContext>()->map_builder().LoadMap(&reader_);
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 
  private:
   cartographer::io::InMemoryProtoStreamReader reader_;

cartographer_grpc/handlers/receive_local_slam_results_handler.cc

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+namespace {
+
+std::unique_ptr<proto::ReceiveLocalSlamResultsResponse> GenerateResponse(
+    std::unique_ptr<MapBuilderContextInterface::LocalSlamResult>
+        local_slam_result) {
+  auto response = cartographer::common::make_unique<
+      proto::ReceiveLocalSlamResultsResponse>();
+  response->set_trajectory_id(local_slam_result->trajectory_id);
+  response->set_timestamp(
+      cartographer::common::ToUniversal(local_slam_result->time));
+  *response->mutable_local_pose() =
+      cartographer::transform::ToProto(local_slam_result->local_pose);
+  if (local_slam_result->range_data) {
+    *response->mutable_range_data() =
+        cartographer::sensor::ToProto(*local_slam_result->range_data);
+  }
+  if (local_slam_result->insertion_result) {
+    local_slam_result->insertion_result->node_id.ToProto(
+        response->mutable_insertion_result()->mutable_node_id());
+  }
+  return response;
+}
+
+}  // namespace
+
+void ReceiveLocalSlamResultsHandler::OnRequest(
+    const proto::ReceiveLocalSlamResultsRequest& request) {
+  auto writer = GetWriter();
+  MapBuilderContextInterface::SubscriptionId subscription_id =
+      GetUnsynchronizedContext<MapBuilderContextInterface>()
+          ->SubscribeLocalSlamResults(
+              request.trajectory_id(),
+              [writer](
+                  std::unique_ptr<MapBuilderContextInterface::LocalSlamResult>
+                      local_slam_result) {
+                if (local_slam_result) {
+                  writer.Write(GenerateResponse(std::move(local_slam_result)));
+                } else {
+                  // Callback with 'nullptr' signals that the trajectory
+                  // finished.
+                  writer.WritesDone();
+                }
+              });
+
+  subscription_id_ = cartographer::common::make_unique<
+      MapBuilderContextInterface::SubscriptionId>(subscription_id);
+}
+
+void ReceiveLocalSlamResultsHandler::OnFinish() {
+  if (subscription_id_) {
+    GetUnsynchronizedContext<MapBuilderContextInterface>()
+        ->UnsubscribeLocalSlamResults(*subscription_id_);
+  }
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/receive_local_slam_results_handler.h

@@ -17,9 +17,10 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
+#include <memory>
+
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 
 namespace cartographer_grpc {
@@ -33,57 +34,8 @@ class ReceiveLocalSlamResultsHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/ReceiveLocalSlamResults";
   }
-  void OnRequest(
+  void OnRequest(const proto::ReceiveLocalSlamResultsRequest& request) override;
-      const proto::ReceiveLocalSlamResultsRequest& request) override {
+  void OnFinish() override;
-    auto writer = GetWriter();
-    MapBuilderContextInterface::SubscriptionId subscription_id =
-        GetUnsynchronizedContext<MapBuilderContext>()
-            ->SubscribeLocalSlamResults(
-                request.trajectory_id(),
-                [writer](
-                    std::unique_ptr<MapBuilderContextInterface::LocalSlamResult>
-                        local_slam_result) {
-                  if (local_slam_result) {
-                    writer.Write(
-                        GenerateResponse(std::move(local_slam_result)));
-                  } else {
-                    // Callback with 'nullptr' signals that the trajectory
-                    // finished.
-                    writer.WritesDone();
-                  }
-                });
-
-    subscription_id_ = cartographer::common::make_unique<
-        MapBuilderContextInterface::SubscriptionId>(subscription_id);
-  }
-
-  static std::unique_ptr<proto::ReceiveLocalSlamResultsResponse>
-  GenerateResponse(std::unique_ptr<MapBuilderContextInterface::LocalSlamResult>
-                       local_slam_result) {
-    auto response = cartographer::common::make_unique<
-        proto::ReceiveLocalSlamResultsResponse>();
-    response->set_trajectory_id(local_slam_result->trajectory_id);
-    response->set_timestamp(
-        cartographer::common::ToUniversal(local_slam_result->time));
-    *response->mutable_local_pose() =
-        cartographer::transform::ToProto(local_slam_result->local_pose);
-    if (local_slam_result->range_data) {
-      *response->mutable_range_data() =
-          cartographer::sensor::ToProto(*local_slam_result->range_data);
-    }
-    if (local_slam_result->insertion_result) {
-      local_slam_result->insertion_result->node_id.ToProto(
-          response->mutable_insertion_result()->mutable_node_id());
-    }
-    return response;
-  }
-
-  void OnFinish() override {
-    if (subscription_id_) {
-      GetUnsynchronizedContext<MapBuilderContext>()
-          ->UnsubscribeLocalSlamResults(*subscription_id_);
-    }
-  }
 
  private:
   std::unique_ptr<MapBuilderContextInterface::SubscriptionId> subscription_id_;

cartographer_grpc/handlers/run_final_optimization_handler.cc

@@ -0,0 +1,40 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/map_builder_interface.h"
+#include "cartographer/mapping/pose_graph.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void RunFinalOptimizationHandler::OnRequest(
+    const google::protobuf::Empty& request) {
+  GetContext<MapBuilderContextInterface>()
+      ->map_builder()
+      .pose_graph()
+      ->RunFinalOptimization();
+  Send(cartographer::common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/run_final_optimization_handler.h

@@ -17,10 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
 #define CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
 
-#include "cartographer/common/make_unique.h"
-#include "cartographer/mapping/pose_graph.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "google/protobuf/empty.pb.h"
 
@@ -34,13 +31,7 @@ class RunFinalOptimizationHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/RunFinalOptimization";
   }
-  void OnRequest(const google::protobuf::Empty& request) override {
+  void OnRequest(const google::protobuf::Empty& request) override;
-    GetContext<MapBuilderContext>()
-        ->map_builder()
-        .pose_graph()
-        ->RunFinalOptimization();
-    Send(cartographer::common::make_unique<google::protobuf::Empty>());
-  }
 };
 
 }  // namespace handlers

cartographer_grpc/handlers/write_map_handler.cc

@@ -0,0 +1,56 @@
+/*
+ * 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.
+ */
+
+#include "cartographer_grpc/handlers/write_map_handler.h"
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/io/in_memory_proto_stream.h"
+#include "cartographer_grpc/framework/rpc_handler.h"
+#include "cartographer_grpc/map_builder_context_interface.h"
+#include "cartographer_grpc/map_builder_server.h"
+#include "cartographer_grpc/proto/map_builder_service.pb.h"
+
+namespace cartographer_grpc {
+namespace handlers {
+
+void WriteMapHandler::OnRequest(const google::protobuf::Empty& request) {
+  auto writer = GetWriter();
+  cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
+      [writer](const google::protobuf::Message* proto) {
+        if (!proto) {
+          writer.WritesDone();
+          return true;
+        }
+
+        auto response =
+            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.SerializedData") {
+          response->mutable_serialized_data()->CopyFrom(*proto);
+        } else {
+          LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
+        }
+        writer.Write(std::move(response));
+        return true;
+      });
+  GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
+      &proto_stream_writer);
+}
+
+}  // namespace handlers
+}  // namespace cartographer_grpc

cartographer_grpc/handlers/write_map_handler.h

@@ -17,12 +17,9 @@
 #ifndef CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
 #define CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
 
-#include "cartographer/common/make_unique.h"
-#include "cartographer/io/in_memory_proto_stream.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
-#include "cartographer_grpc/map_builder_context_interface.h"
-#include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
 
 namespace cartographer_grpc {
 namespace handlers {
@@ -34,31 +31,7 @@ class WriteMapHandler
   std::string method_name() const override {
     return "/cartographer_grpc.proto.MapBuilderService/WriteMap";
   }
-  void OnRequest(const google::protobuf::Empty& request) override {
+  void OnRequest(const google::protobuf::Empty& request) override;
-    auto writer = GetWriter();
-    cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
-        [writer](const google::protobuf::Message* proto) {
-          if (!proto) {
-            writer.WritesDone();
-            return true;
-          }
-
-          auto response =
-              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.SerializedData") {
-            response->mutable_serialized_data()->CopyFrom(*proto);
-          } else {
-            LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
-          }
-          writer.Write(std::move(response));
-          return true;
-        });
-    GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
-        &proto_stream_writer);
-  }
 };
 
 }  // namespace handlers