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Move framework/, sensor/, testing/ to internal/. (#954) 

[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)

Added `map_builder_server_interface.h/cc` to hide `framework/*.h`.
master
Alexander Belyaev 2018-03-02 14:16:49 +01:00 committed by GitHub
parent b51bf3dd6d
commit b79e5b8e29
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
90 changed files with 289 additions and 215 deletions
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2
cartographer_grpc/client/map_builder_stub.cc
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@ -23,8 +23,8 @@
#include "cartographer_grpc/internal/handlers/get_submap_handler.h" #include "cartographer_grpc/internal/handlers/get_submap_handler.h"
#include "cartographer_grpc/internal/handlers/load_state_handler.h" #include "cartographer_grpc/internal/handlers/load_state_handler.h"
#include "cartographer_grpc/internal/handlers/write_state_handler.h" #include "cartographer_grpc/internal/handlers/write_state_handler.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/client/pose_graph_stub.cc
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@ -16,7 +16,7 @@
#include "cartographer_grpc/internal/client/pose_graph_stub.h" #include "cartographer_grpc/internal/client/pose_graph_stub.h"
#include "cartographer/mapping/pose_graph.h" #include "cartographer/mapping/pose_graph.h"
#include "cartographer_grpc/framework/client.h" #include "cartographer_grpc/internal/framework/client.h"
#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" #include "cartographer_grpc/internal/handlers/get_all_submap_poses.h"
#include "cartographer_grpc/internal/handlers/get_constraints_handler.h" #include "cartographer_grpc/internal/handlers/get_constraints_handler.h"
#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"

2
cartographer_grpc/internal/client/trajectory_builder_stub.cc
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@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/client/trajectory_builder_stub.h" #include "cartographer_grpc/internal/client/trajectory_builder_stub.h"
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/client/trajectory_builder_stub.h
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@ -21,7 +21,7 @@
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/framework/client.h" #include "cartographer_grpc/internal/framework/client.h"
#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"

6
cartographer_grpc/client_server_test.cc → cartographer_grpc/internal/client_server_test.cc
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@ -20,10 +20,10 @@
#include "cartographer/mapping/internal/test_helpers.h" #include "cartographer/mapping/internal/test_helpers.h"
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer_grpc/client/map_builder_stub.h" #include "cartographer_grpc/client/map_builder_stub.h"
#include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/internal/map_builder_server.h"
#include "cartographer_grpc/internal/testing/mock_map_builder.h"
#include "cartographer_grpc/internal/testing/mock_trajectory_builder.h"
#include "cartographer_grpc/map_builder_server_options.h" #include "cartographer_grpc/map_builder_server_options.h"
#include "cartographer_grpc/testing/mock_map_builder.h"
#include "cartographer_grpc/testing/mock_trajectory_builder.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "gmock/gmock.h" #include "gmock/gmock.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

12
cartographer_grpc/framework/client.h → cartographer_grpc/internal/framework/client.h
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@ -14,12 +14,12 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H
#include "cartographer_grpc/framework/retry.h" #include "cartographer_grpc/internal/framework/retry.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h" #include "cartographer_grpc/internal/framework/rpc_handler_interface.h"
#include "cartographer_grpc/framework/type_traits.h" #include "cartographer_grpc/internal/framework/type_traits.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
#include "grpc++/impl/codegen/client_unary_call.h" #include "grpc++/impl/codegen/client_unary_call.h"
@ -200,4 +200,4 @@ class Client {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H

2
cartographer_grpc/framework/completion_queue_thread.cc → cartographer_grpc/internal/framework/completion_queue_thread.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/completion_queue_thread.h" #include "cartographer_grpc/internal/framework/completion_queue_thread.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "glog/logging.h" #include "glog/logging.h"

0
cartographer_grpc/framework/completion_queue_thread.h → cartographer_grpc/internal/framework/completion_queue_thread.h
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2
cartographer_grpc/framework/event_queue_thread.cc → cartographer_grpc/internal/framework/event_queue_thread.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/event_queue_thread.h" #include "cartographer_grpc/internal/framework/event_queue_thread.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "glog/logging.h" #include "glog/logging.h"

8
cartographer_grpc/framework/event_queue_thread.h → cartographer_grpc/internal/framework/event_queue_thread.h
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@ -14,14 +14,14 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H
#include <memory> #include <memory>
#include <thread> #include <thread>
#include "cartographer/common/blocking_queue.h" #include "cartographer/common/blocking_queue.h"
#include "cartographer_grpc/framework/rpc.h" #include "cartographer_grpc/internal/framework/rpc.h"
namespace cartographer_grpc { namespace cartographer_grpc {
namespace framework { namespace framework {
@ -45,4 +45,4 @@ class EventQueueThread {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H

6
cartographer_grpc/framework/execution_context.h → cartographer_grpc/internal/framework/execution_context.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -62,4 +62,4 @@ class ExecutionContext {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H

0
cartographer_grpc/framework/proto/math_service.proto → cartographer_grpc/internal/framework/proto/math_service.proto
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2
cartographer_grpc/framework/retry.cc → cartographer_grpc/internal/framework/retry.cc
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@ -17,7 +17,7 @@
#include <chrono> #include <chrono>
#include <thread> #include <thread>
#include "cartographer_grpc/framework/retry.h" #include "cartographer_grpc/internal/framework/retry.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer_grpc { namespace cartographer_grpc {

6
cartographer_grpc/framework/retry.h → cartographer_grpc/internal/framework/retry.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H
#include "cartographer/common/optional.h" #include "cartographer/common/optional.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
@ -48,4 +48,4 @@ bool RetryWithStrategy(RetryStrategy retry_strategy, std::function<bool()> op,
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H

4
cartographer_grpc/framework/rpc.cc → cartographer_grpc/internal/framework/rpc.cc
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/rpc.h" #include "cartographer_grpc/internal/framework/rpc.h"
#include "cartographer_grpc/framework/service.h" #include "cartographer_grpc/internal/framework/service.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "glog/logging.h" #include "glog/logging.h"

10
cartographer_grpc/framework/rpc.h → cartographer_grpc/internal/framework/rpc.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H
#include <memory> #include <memory>
#include <queue> #include <queue>
@ -23,8 +23,8 @@
#include "cartographer/common/blocking_queue.h" #include "cartographer/common/blocking_queue.h"
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h" #include "cartographer_grpc/internal/framework/rpc_handler_interface.h"
#include "google/protobuf/message.h" #include "google/protobuf/message.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
#include "grpc++/impl/codegen/async_stream.h" #include "grpc++/impl/codegen/async_stream.h"
@ -208,4 +208,4 @@ class ActiveRpcs {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H

14
cartographer_grpc/framework/rpc_handler.h → cartographer_grpc/internal/framework/rpc_handler.h
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@ -14,13 +14,13 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc.h" #include "cartographer_grpc/internal/framework/rpc.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h" #include "cartographer_grpc/internal/framework/rpc_handler_interface.h"
#include "cartographer_grpc/framework/type_traits.h" #include "cartographer_grpc/internal/framework/type_traits.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "google/protobuf/message.h" #include "google/protobuf/message.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
@ -88,4 +88,4 @@ class RpcHandler : public RpcHandlerInterface {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H

8
cartographer_grpc/framework/rpc_handler_interface.h → cartographer_grpc/internal/framework/rpc_handler_interface.h
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@ -14,11 +14,11 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "google/protobuf/message.h" #include "google/protobuf/message.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
@ -61,4 +61,4 @@ struct RpcHandlerInfo {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H

2
cartographer_grpc/framework/server.cc → cartographer_grpc/internal/framework/server.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/server.h" #include "cartographer_grpc/internal/framework/server.h"
#include "glog/logging.h" #include "glog/logging.h"

16
cartographer_grpc/framework/server.h → cartographer_grpc/internal/framework/server.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H
#include <cstddef> #include <cstddef>
#include <memory> #include <memory>
@ -24,11 +24,11 @@
#include <thread> #include <thread>
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/completion_queue_thread.h" #include "cartographer_grpc/internal/framework/completion_queue_thread.h"
#include "cartographer_grpc/framework/event_queue_thread.h" #include "cartographer_grpc/internal/framework/event_queue_thread.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/framework/service.h" #include "cartographer_grpc/internal/framework/service.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
namespace cartographer_grpc { namespace cartographer_grpc {
@ -195,4 +195,4 @@ class Server {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H

10
cartographer_grpc/framework/server_test.cc → cartographer_grpc/internal/framework/server_test.cc
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@ -14,14 +14,14 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/server.h" #include "cartographer_grpc/internal/framework/server.h"
#include <future> #include <future>
#include "cartographer_grpc/framework/client.h" #include "cartographer_grpc/internal/framework/client.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/proto/math_service.pb.h" #include "cartographer_grpc/internal/framework/proto/math_service.pb.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "google/protobuf/descriptor.h" #include "google/protobuf/descriptor.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"

2
cartographer_grpc/framework/service.cc → cartographer_grpc/internal/framework/service.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/server.h" #include "cartographer_grpc/internal/framework/server.h"
#include <cstdlib> #include <cstdlib>

16
cartographer_grpc/framework/service.h → cartographer_grpc/internal/framework/service.h
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@ -14,14 +14,14 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H
#include "cartographer_grpc/framework/completion_queue_thread.h" #include "cartographer_grpc/internal/framework/completion_queue_thread.h"
#include "cartographer_grpc/framework/event_queue_thread.h" #include "cartographer_grpc/internal/framework/event_queue_thread.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc.h" #include "cartographer_grpc/internal/framework/rpc.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "grpc++/impl/codegen/service_type.h" #include "grpc++/impl/codegen/service_type.h"
namespace cartographer_grpc { namespace cartographer_grpc {
@ -62,4 +62,4 @@ class Service : public ::grpc::Service {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H

14
cartographer_grpc/framework/testing/rpc_handler_test_server.h → cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h
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@ -14,17 +14,17 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
#define CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_
#include <functional> #include <functional>
#include <string> #include <string>
#include "cartographer/common/blocking_queue.h" #include "cartographer/common/blocking_queue.h"
#include "cartographer_grpc/framework/client.h" #include "cartographer_grpc/internal/framework/client.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h" #include "cartographer_grpc/internal/framework/rpc_handler_interface.h"
#include "cartographer_grpc/framework/server.h" #include "cartographer_grpc/internal/framework/server.h"
#include "cartographer_grpc/framework/testing/rpc_handler_wrapper.h" #include "cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
@ -136,4 +136,4 @@ class RpcHandlerTestServer : public Server {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_

6
cartographer_grpc/framework/testing/rpc_handler_wrapper.h → cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
#define CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_
#include <functional> #include <functional>
@ -55,4 +55,4 @@ class RpcHandlerWrapper : public RpcHandlerType {
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_

6
cartographer_grpc/framework/type_traits.h → cartographer_grpc/internal/framework/type_traits.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H
#include <grpc++/grpc++.h> #include <grpc++/grpc++.h>
@ -66,4 +66,4 @@ struct RpcType<Stream<Incoming>, Stream<Outgoing>>
} // namespace framework } // namespace framework
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H #endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H

2
cartographer_grpc/framework/type_traits_test.cc → cartographer_grpc/internal/framework/type_traits_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/framework/type_traits.h" #include "cartographer_grpc/internal/framework/type_traits.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

6
cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc
View File

@ -19,10 +19,10 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/fixed_frame_pose_data.h" #include "cartographer/sensor/fixed_frame_pose_data.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

6
cartographer_grpc/internal/handlers/add_imu_data_handler.cc
View File

@ -19,10 +19,10 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/imu_data.h" #include "cartographer/sensor/imu_data.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/handlers/add_imu_data_handler.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

6
cartographer_grpc/internal/handlers/add_landmark_data_handler.cc
View File

@ -19,10 +19,10 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/landmark_data.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/handlers/add_landmark_data_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

4
cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc
View File

@ -20,8 +20,8 @@
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_node.h" #include "cartographer/mapping/trajectory_node.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

6
cartographer_grpc/internal/handlers/add_odometry_data_handler.cc
View File

@ -19,10 +19,10 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/handlers/add_odometry_data_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" #include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

4
cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc
View File

@ -19,8 +19,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/timed_point_cloud_data.h" #include "cartographer/sensor/timed_point_cloud_data.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" #include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

6
cartographer_grpc/internal/handlers/add_trajectory_handler.cc
View File

@ -17,10 +17,10 @@
#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
namespace cartographer_grpc { namespace cartographer_grpc {
namespace handlers { namespace handlers {

2
cartographer_grpc/internal/handlers/add_trajectory_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

8
cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc
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@ -15,10 +15,10 @@
*/ */
#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/sensor/serialization.h" #include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/mock_map_builder.h" #include "cartographer_grpc/internal/testing/mock_map_builder.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

4
cartographer_grpc/internal/handlers/finish_trajectory_handler.cc
View File

@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/finish_trajectory_handler.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_all_submap_poses.cc
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@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" #include "cartographer_grpc/internal/handlers/get_all_submap_poses.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_all_submap_poses.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_constraints_handler.cc
View File

@ -18,8 +18,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/mapping/pose_graph.h" #include "cartographer/mapping/pose_graph.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_constraints_handler.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc
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@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_landmark_poses_handler.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc
View File

@ -15,8 +15,8 @@
*/ */
#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"
#include "cartographer_grpc/testing/handler_test.h" #include "cartographer_grpc/internal/testing/handler_test.h"
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
#include "google/protobuf/text_format.h" #include "google/protobuf/text_format.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

4
cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc
View File

@ -16,8 +16,8 @@
#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h" #include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_submap_handler.cc
View File

@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/get_submap_handler.h" #include "cartographer_grpc/internal/handlers/get_submap_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_submap_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc
View File

@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h" #include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/load_state_handler.cc
View File

@ -18,8 +18,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h" #include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/load_state_handler.h
View File

@ -18,7 +18,7 @@
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
#include "cartographer/io/in_memory_proto_stream.h" #include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

4
cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc
View File

@ -17,8 +17,8 @@
#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" #include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

4
cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h
View File

@ -19,8 +19,8 @@
#include <memory> #include <memory>
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

4
cartographer_grpc/internal/handlers/run_final_optimization_handler.cc
View File

@ -19,8 +19,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/pose_graph.h" #include "cartographer/mapping/pose_graph.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

2
cartographer_grpc/internal/handlers/run_final_optimization_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

6
cartographer_grpc/internal/handlers/write_state_handler.cc
View File

@ -18,9 +18,9 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h" #include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/internal/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/internal/handlers/write_state_handler.h
View File

@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
#include "cartographer_grpc/framework/rpc_handler.h" #include "cartographer_grpc/internal/framework/rpc_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h" #include "google/protobuf/empty.pb.h"

6
cartographer_grpc/local_trajectory_uploader.cc → cartographer_grpc/internal/local_trajectory_uploader.cc
View File

@ -14,13 +14,13 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/local_trajectory_uploader.h" #include "cartographer_grpc/internal/local_trajectory_uploader.h"
#include <map> #include <map>
#include <thread> #include <thread>
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/client.h" #include "cartographer_grpc/internal/framework/client.h"
#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
@ -28,8 +28,8 @@
#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" #include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/internal/sensor/serialization.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "grpc++/grpc++.h" #include "grpc++/grpc++.h"

0
cartographer_grpc/local_trajectory_uploader.h → cartographer_grpc/internal/local_trajectory_uploader.h
View File

5
cartographer_grpc/map_builder_context.cc → cartographer_grpc/internal/map_builder_context.cc
View File

@ -14,8 +14,9 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/map_builder_context.h" #include "cartographer_grpc/internal/map_builder_context.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/internal/map_builder_server.h"
namespace cartographer_grpc { namespace cartographer_grpc {

2
cartographer_grpc/map_builder_context.h → cartographer_grpc/internal/map_builder_context.h
View File

@ -19,7 +19,7 @@
#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
namespace cartographer_grpc { namespace cartographer_grpc {

4
cartographer_grpc/map_builder_context_interface.h → cartographer_grpc/internal/map_builder_context_interface.h
View File

@ -22,8 +22,8 @@
#include "cartographer/sensor/data.h" #include "cartographer/sensor/data.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/local_trajectory_uploader.h" #include "cartographer_grpc/internal/local_trajectory_uploader.h"
namespace cartographer_grpc { namespace cartographer_grpc {

4
cartographer_grpc/map_builder_server.cc → cartographer_grpc/internal/map_builder_server.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/internal/map_builder_server.h"
#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
@ -34,7 +34,7 @@
#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" #include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h"
#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h" #include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"
#include "cartographer_grpc/internal/handlers/write_state_handler.h" #include "cartographer_grpc/internal/handlers/write_state_handler.h"
#include "cartographer_grpc/sensor/serialization.h" #include "cartographer_grpc/internal/sensor/serialization.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer_grpc { namespace cartographer_grpc {

20
cartographer_grpc/map_builder_server.h → cartographer_grpc/internal/map_builder_server.h
View File

@ -23,36 +23,38 @@
#include "cartographer/mapping/map_builder.h" #include "cartographer/mapping/map_builder.h"
#include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer_grpc/framework/execution_context.h" #include "cartographer_grpc/internal/framework/execution_context.h"
#include "cartographer_grpc/framework/server.h" #include "cartographer_grpc/internal/framework/server.h"
#include "cartographer_grpc/local_trajectory_uploader.h" #include "cartographer_grpc/internal/local_trajectory_uploader.h"
#include "cartographer_grpc/map_builder_context.h" #include "cartographer_grpc/internal/map_builder_context.h"
#include "cartographer_grpc/map_builder_server_interface.h"
#include "cartographer_grpc/proto/map_builder_server_options.pb.h" #include "cartographer_grpc/proto/map_builder_server_options.pb.h"
namespace cartographer_grpc { namespace cartographer_grpc {
class MapBuilderServer { class MapBuilderServer : public MapBuilderServerInterface {
public: public:
friend MapBuilderContext; friend MapBuilderContext;
MapBuilderServer( MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options, const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder); std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder);
~MapBuilderServer() {}
// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread. // Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
void Start(); void Start() final;
// Waits for the 'MapBuilderServer' to shut down. Note: The server must be // Waits for the 'MapBuilderServer' to shut down. Note: The server must be
// either shutting down or some other thread must call 'Shutdown()' for this // either shutting down or some other thread must call 'Shutdown()' for this
// function to ever return. // function to ever return.
void WaitForShutdown(); void WaitForShutdown() final;
// Waits until all computation is finished (for testing). // Waits until all computation is finished (for testing).
void WaitUntilIdle(); void WaitUntilIdle() final;
// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM // Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
// thread. // thread.
void Shutdown(); void Shutdown() final;
private: private:
using LocalSlamResultHandlerSubscriptions = using LocalSlamResultHandlerSubscriptions =

2
cartographer_grpc/sensor/serialization.cc → cartographer_grpc/internal/sensor/serialization.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "serialization.h" #include "cartographer_grpc/internal/sensor/serialization.h"
namespace cartographer_grpc { namespace cartographer_grpc {
namespace sensor { namespace sensor {

6
cartographer_grpc/sensor/serialization.h → cartographer_grpc/internal/sensor/serialization.h
View File

@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H
#define CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H #define CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h"
@ -70,4 +70,4 @@ cartographer::mapping::TrajectoryBuilderInterface::SensorId FromProto(
} // namespace sensor } // namespace sensor
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H #endif // CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H

16
cartographer_grpc/testing/handler_test.h → cartographer_grpc/internal/testing/handler_test.h
View File

@ -14,16 +14,16 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H
#define CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/testing/rpc_handler_test_server.h" #include "cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h"
#include "cartographer_grpc/testing/mock_local_trajectory_uploader.h"
#include "cartographer_grpc/testing/mock_map_builder.h"
#include "cartographer_grpc/testing/mock_map_builder_context.h"
#include "cartographer_grpc/testing/mock_pose_graph.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
#include "mock_local_trajectory_uploader.h"
#include "mock_map_builder.h"
#include "mock_map_builder_context.h"
#include "mock_pose_graph.h"
namespace cartographer_grpc { namespace cartographer_grpc {
namespace testing { namespace testing {
@ -76,4 +76,4 @@ class HandlerTest : public Test {
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H

8
cartographer_grpc/testing/mock_local_trajectory_uploader.h → cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h
View File

@ -14,10 +14,10 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
#include "cartographer_grpc/local_trajectory_uploader.h" #include "cartographer_grpc/internal/local_trajectory_uploader.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "gmock/gmock.h" #include "gmock/gmock.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
@ -45,4 +45,4 @@ class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H

6
cartographer_grpc/testing/mock_map_builder.h → cartographer_grpc/internal/testing/mock_map_builder.h
View File

@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
#include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h"
@ -65,4 +65,4 @@ class MockMapBuilder : public cartographer::mapping::MapBuilderInterface {
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H

8
cartographer_grpc/testing/mock_map_builder_context.h → cartographer_grpc/internal/testing/mock_map_builder_context.h
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@ -14,11 +14,11 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H
#include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer_grpc/map_builder_context_interface.h" #include "cartographer_grpc/internal/map_builder_context_interface.h"
#include "glog/logging.h" #include "glog/logging.h"
#include "gmock/gmock.h" #include "gmock/gmock.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
@ -78,4 +78,4 @@ class MockMapBuilderContext : public MapBuilderContextInterface {
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H

6
cartographer_grpc/testing/mock_pose_graph.h → cartographer_grpc/internal/testing/mock_pose_graph.h
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@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
#include "cartographer/mapping/pose_graph_interface.h" #include "cartographer/mapping/pose_graph_interface.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -61,4 +61,4 @@ class MockPoseGraph : public cartographer::mapping::PoseGraphInterface {
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H

6
cartographer_grpc/testing/mock_trajectory_builder.h → cartographer_grpc/internal/testing/mock_trajectory_builder.h
View File

@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
#include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -58,4 +58,4 @@ class MockTrajectoryBuilder
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H

2
cartographer_grpc/testing/test_helpers.cc → cartographer_grpc/internal/testing/test_helpers.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer_grpc/testing/test_helpers.h" #include "cartographer_grpc/internal/testing/test_helpers.h"
namespace cartographer_grpc { namespace cartographer_grpc {
namespace testing { namespace testing {

6
cartographer_grpc/testing/test_helpers.h → cartographer_grpc/internal/testing/test_helpers.h
View File

@ -14,8 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H
#define CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H
#include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/dispatchable.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "cartographer_grpc/proto/map_builder_service.pb.h"
@ -54,4 +54,4 @@ ProtoPredicateType BuildProtoPredicateEquals(
} // namespace testing } // namespace testing
} // namespace cartographer_grpc } // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H #endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H

15
cartographer_grpc/map_builder_server_interface.cc Normal file
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@ -0,0 +1,15 @@
#include "cartographer_grpc/map_builder_server_interface.h"
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/internal/map_builder_server.h"
namespace cartographer_grpc {
std::unique_ptr<MapBuilderServerInterface> CreateMapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<::cartographer::mapping::MapBuilderInterface> map_builder) {
return ::cartographer::common::make_unique<MapBuilderServer>(
map_builder_server_options, std::move(map_builder));
}
} // namespace cartographer_grpc

54
cartographer_grpc/map_builder_server_interface.h Normal file
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@ -0,0 +1,54 @@
/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H
#include <memory>
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
namespace cartographer_grpc {
class MapBuilderServerInterface {
public:
virtual ~MapBuilderServerInterface() {}
// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
virtual void Start() = 0;
// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
// either shutting down or some other thread must call 'Shutdown()' for
// this function to ever return.
virtual void WaitForShutdown() = 0;
// Waits until all computation is finished (for testing).
virtual void WaitUntilIdle() = 0;
// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
// thread.
virtual void Shutdown() = 0;
};
// Returns MapBuilderServer with the actual implementation.
std::unique_ptr<MapBuilderServerInterface> CreateMapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options,
std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder);
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H

12
cartographer_grpc/map_builder_server_main.cc
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@ -14,8 +14,9 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping/map_builder.h"
#include "cartographer/metrics/register.h" #include "cartographer/metrics/register.h"
#include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/map_builder_server_interface.h"
#include "cartographer_grpc/map_builder_server_options.h" #include "cartographer_grpc/map_builder_server_options.h"
#include "gflags/gflags.h" #include "gflags/gflags.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -54,10 +55,11 @@ void Run(const std::string& configuration_directory,
auto map_builder = auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>( cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
map_builder_server_options.map_builder_options()); map_builder_server_options.map_builder_options());
MapBuilderServer map_builder_server(map_builder_server_options, std::unique_ptr<MapBuilderServerInterface> map_builder_server =
std::move(map_builder)); CreateMapBuilderServer(map_builder_server_options,
map_builder_server.Start(); std::move(map_builder));
map_builder_server.WaitForShutdown(); map_builder_server->Start();
map_builder_server->WaitForShutdown();
} }
} // namespace cartographer_grpc } // namespace cartographer_grpc