Pulls out collator.cc. (#123)

master
Damon Kohler 2016-11-15 14:17:23 +01:00 committed by GitHub
parent 8cd3178c69
commit a74319cf1a
3 changed files with 59 additions and 31 deletions

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@ -15,13 +15,11 @@
add_subdirectory("proto") add_subdirectory("proto")
google_library(sensor_collator google_library(sensor_collator
USES_EIGEN SRCS
USES_GLOG collator.cc
HDRS HDRS
collator.h collator.h
DEPENDS DEPENDS
common_make_unique
common_time
sensor_data sensor_data
sensor_ordered_multi_queue sensor_ordered_multi_queue
) )

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@ -0,0 +1,50 @@
/*
* Copyright 2016 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/sensor/collator.h"
namespace cartographer {
namespace sensor {
void Collator::AddTrajectory(
const int trajectory_id,
const std::unordered_set<string>& expected_sensor_ids,
const Callback callback) {
for (const auto& sensor_id : expected_sensor_ids) {
const auto queue_key = QueueKey{trajectory_id, sensor_id};
queue_.AddQueue(queue_key,
[callback, sensor_id](std::unique_ptr<Data> data) {
callback(sensor_id, std::move(data));
});
queue_keys_[trajectory_id].push_back(queue_key);
}
}
void Collator::FinishTrajectory(const int trajectory_id) {
for (const auto& queue_key : queue_keys_[trajectory_id]) {
queue_.MarkQueueAsFinished(queue_key);
}
}
void Collator::AddSensorData(const int trajectory_id, const string& sensor_id,
std::unique_ptr<Data> data) {
queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
}
void Collator::Flush() { queue_.Flush(); }
} // namespace sensor
} // namespace cartographer

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@ -21,15 +21,10 @@
#include <memory> #include <memory>
#include <unordered_map> #include <unordered_map>
#include <unordered_set> #include <unordered_set>
#include <utility> #include <vector>
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/time.h"
#include "cartographer/sensor/data.h" #include "cartographer/sensor/data.h"
#include "cartographer/sensor/ordered_multi_queue.h" #include "cartographer/sensor/ordered_multi_queue.h"
#include "glog/logging.h"
namespace cartographer { namespace cartographer {
namespace sensor { namespace sensor {
@ -45,37 +40,22 @@ class Collator {
// Adds a trajectory to produce sorted sensor output for. Calls 'callback' // Adds a trajectory to produce sorted sensor output for. Calls 'callback'
// for each collated sensor data. // for each collated sensor data.
void AddTrajectory(const int trajectory_id, void AddTrajectory(int trajectory_id,
const std::unordered_set<string>& expected_sensor_ids, const std::unordered_set<string>& expected_sensor_ids,
const Callback callback) { Callback callback);
for (const auto& sensor_id : expected_sensor_ids) {
const auto queue_key = QueueKey{trajectory_id, sensor_id};
queue_.AddQueue(queue_key,
[callback, sensor_id](std::unique_ptr<Data> data) {
callback(sensor_id, std::move(data));
});
queue_keys_[trajectory_id].push_back(queue_key);
}
}
// Marks 'trajectory_id' as finished. // Marks 'trajectory_id' as finished.
void FinishTrajectory(const int trajectory_id) { void FinishTrajectory(int trajectory_id);
for (const auto& queue_key : queue_keys_[trajectory_id]) {
queue_.MarkQueueAsFinished(queue_key);
}
}
// Adds 'data' for 'trajectory_id' to be collated. 'data' must contain valid // Adds 'data' for 'trajectory_id' to be collated. 'data' must contain valid
// sensor data. Sensor packets with matching 'sensor_id' must be added in time // sensor data. Sensor packets with matching 'sensor_id' must be added in time
// order. // order.
void AddSensorData(const int trajectory_id, const string& sensor_id, void AddSensorData(int trajectory_id, const string& sensor_id,
std::unique_ptr<Data> data) { std::unique_ptr<Data> data);
queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
}
// Dispatches all queued sensor packets. May only be called once. // Dispatches all queued sensor packets. May only be called once.
// AddSensorData may not be called after Flush. // AddSensorData may not be called after Flush.
void Flush() { queue_.Flush(); } void Flush();
private: private:
// Queue keys are a pair of trajectory ID and sensor identifier. // Queue keys are a pair of trajectory ID and sensor identifier.