Add token_file_path parameter and enable auth (#1235)

bazel/repositories.bzl

@@ -228,9 +228,9 @@ def cartographer_repositories():
 
   _maybe(native.http_archive,
       name = "com_github_googlecartographer_async_grpc",
-      strip_prefix = "async_grpc-c2c68f56904a595ab5ba24c1fb19b4b8e954fa15",
+      strip_prefix = "async_grpc-a562634ecea49beac5a08436ca76c6b82efb439b",
       urls = [
-          "https://github.com/googlecartographer/async_grpc/archive/c2c68f56904a595ab5ba24c1fb19b4b8e954fa15.tar.gz",
+          "https://github.com/googlecartographer/async_grpc/archive/a562634ecea49beac5a08436ca76c6b82efb439b.tar.gz",
       ],
   )
   

cartographer/cloud/client/map_builder_stub.cc

@@ -35,7 +35,7 @@ namespace cloud {
 namespace {
 
 using common::make_unique;
-constexpr int kConnectionTimeoutInSecond = 10;
+constexpr int kConnectionTimeoutInSeconds = 10;
 
 }  // namespace
 
@@ -46,7 +46,7 @@ MapBuilderStub::MapBuilderStub(const std::string& server_address)
   LOG(INFO) << "Connecting to SLAM process at " << server_address;
   std::chrono::system_clock::time_point deadline(
       std::chrono::system_clock::now() +
-      std::chrono::seconds(kConnectionTimeoutInSecond));
+      std::chrono::seconds(kConnectionTimeoutInSeconds));
   if (!client_channel_->WaitForConnected(deadline)) {
     LOG(FATAL) << "Failed to connect to " << server_address;
   }

cartographer/cloud/internal/local_trajectory_uploader.cc

@@ -20,6 +20,7 @@
 #include <thread>
 
 #include "async_grpc/client.h"
+#include "async_grpc/token_file_credentials.h"
 #include "cartographer/cloud/internal/handlers/add_sensor_data_batch_handler.h"
 #include "cartographer/cloud/internal/handlers/add_trajectory_handler.h"
 #include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h"
@@ -35,13 +36,15 @@ namespace {
 
 using common::make_unique;
 
-constexpr int kConnectionTimeoutInSecond = 10;
+constexpr int kConnectionTimeoutInSeconds = 10;
+constexpr int kTokenRefreshIntervalInSeconds = 60;
 const common::Duration kPopTimeout = common::FromMilliseconds(100);
 
 class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
  public:
-  LocalTrajectoryUploader(const std::string &uplink_server_address,
+  LocalTrajectoryUploader(const std::string& uplink_server_address,
-                          int batch_size, bool enable_ssl_encryption);
+                          int batch_size, bool enable_ssl_encryption,
+                          const std::string& token_file_path);
   ~LocalTrajectoryUploader();
 
   // Starts the upload thread.
@@ -52,8 +55,8 @@ class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
   void Shutdown() final;
 
   void AddTrajectory(
-      int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
+      int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
-      const mapping::proto::TrajectoryBuilderOptions &trajectory_options) final;
+      const mapping::proto::TrajectoryBuilderOptions& trajectory_options) final;
   void FinishTrajectory(int local_trajectory_id) final;
   void EnqueueSensorData(std::unique_ptr<proto::SensorData> sensor_data) final;
 
@@ -64,7 +67,7 @@ class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
 
  private:
   void ProcessSendQueue();
-  void TranslateTrajectoryId(proto::SensorMetadata *sensor_metadata);
+  void TranslateTrajectoryId(proto::SensorMetadata* sensor_metadata);
 
   std::shared_ptr<::grpc::Channel> client_channel_;
   int batch_size_;
@@ -75,17 +78,24 @@ class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
 };
 
 LocalTrajectoryUploader::LocalTrajectoryUploader(
-    const std::string &uplink_server_address, int batch_size,
+    const std::string& uplink_server_address, int batch_size,
-    bool enable_ssl_encryption)
+    bool enable_ssl_encryption, const std::string& token_file_path)
-    : client_channel_(::grpc::CreateChannel(
+    : batch_size_(batch_size) {
-          uplink_server_address,
+  auto channel_creds =
       enable_ssl_encryption
           ? ::grpc::SslCredentials(::grpc::SslCredentialsOptions())
-              : ::grpc::InsecureChannelCredentials())),
+          : ::grpc::InsecureChannelCredentials();
-      batch_size_(batch_size) {
+
+  if (!token_file_path.empty()) {
+    auto call_creds = async_grpc::TokenFileCredentials(
+        token_file_path, std::chrono::seconds(kTokenRefreshIntervalInSeconds));
+    channel_creds =
+        grpc::CompositeChannelCredentials(channel_creds, call_creds);
+  }
+  client_channel_ = ::grpc::CreateChannel(uplink_server_address, channel_creds);
   std::chrono::system_clock::time_point deadline(
       std::chrono::system_clock::now() +
-      std::chrono::seconds(kConnectionTimeoutInSecond));
+      std::chrono::seconds(kConnectionTimeoutInSeconds));
   LOG(INFO) << "Connecting to uplink " << uplink_server_address;
   if (!client_channel_->WaitForConnected(deadline)) {
     LOG(FATAL) << "Failed to connect to " << uplink_server_address;
@@ -114,14 +124,14 @@ void LocalTrajectoryUploader::ProcessSendQueue() {
   while (!shutting_down_) {
     auto sensor_data = send_queue_.PopWithTimeout(kPopTimeout);
     if (sensor_data) {
-      proto::SensorData *added_sensor_data = batch_request.add_sensor_data();
+      proto::SensorData* added_sensor_data = batch_request.add_sensor_data();
       *added_sensor_data = *sensor_data;
       TranslateTrajectoryId(added_sensor_data->mutable_sensor_metadata());
 
       // A submap also holds a trajectory id that must be translated to uplink's
       // trajectory id.
       if (added_sensor_data->has_local_slam_result_data()) {
-        for (mapping::proto::Submap &mutable_submap :
+        for (mapping::proto::Submap& mutable_submap :
              *added_sensor_data->mutable_local_slam_result_data()
                   ->mutable_submaps()) {
           mutable_submap.mutable_submap_id()->set_trajectory_id(
@@ -141,18 +151,18 @@ void LocalTrajectoryUploader::ProcessSendQueue() {
 }
 
 void LocalTrajectoryUploader::TranslateTrajectoryId(
-    proto::SensorMetadata *sensor_metadata) {
+    proto::SensorMetadata* sensor_metadata) {
   int cloud_trajectory_id =
       local_to_cloud_trajectory_id_map_.at(sensor_metadata->trajectory_id());
   sensor_metadata->set_trajectory_id(cloud_trajectory_id);
 }
 
 void LocalTrajectoryUploader::AddTrajectory(
-    int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
+    int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
-    const mapping::proto::TrajectoryBuilderOptions &trajectory_options) {
+    const mapping::proto::TrajectoryBuilderOptions& trajectory_options) {
   proto::AddTrajectoryRequest request;
   *request.mutable_trajectory_builder_options() = trajectory_options;
-  for (const SensorId &sensor_id : expected_sensor_ids) {
+  for (const SensorId& sensor_id : expected_sensor_ids) {
     // Range sensors are not forwarded, but combined into a LocalSlamResult.
     if (sensor_id.type != SensorId::SensorType::RANGE) {
       *request.add_expected_sensor_ids() = cloud::ToProto(sensor_id);
@@ -161,7 +171,8 @@ void LocalTrajectoryUploader::AddTrajectory(
   *request.add_expected_sensor_ids() =
       cloud::ToProto(GetLocalSlamResultSensorId(local_trajectory_id));
   async_grpc::Client<handlers::AddTrajectorySignature> client(client_channel_);
-  CHECK(client.Write(request));
+  ::grpc::Status status;
+  CHECK(client.Write(request, &status)) << status.error_message();
   CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
   local_to_cloud_trajectory_id_map_[local_trajectory_id] =
       client.response().trajectory_id();
@@ -186,10 +197,11 @@ void LocalTrajectoryUploader::EnqueueSensorData(
 }  // namespace
 
 std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
-    const std::string &uplink_server_address, int batch_size,
+    const std::string& uplink_server_address, int batch_size,
-    bool enable_ssl_encryption) {
+    bool enable_ssl_encryption, const std::string& token_file_path) {
   return make_unique<LocalTrajectoryUploader>(uplink_server_address, batch_size,
-                                              enable_ssl_encryption);
+                                              enable_ssl_encryption,
+                                              token_file_path);
 }
 
 }  // namespace cloud

cartographer/cloud/internal/local_trajectory_uploader.h

@@ -56,7 +56,7 @@ class LocalTrajectoryUploaderInterface {
 // Returns LocalTrajectoryUploader with the actual implementation.
 std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
     const std::string& uplink_server_address, int batch_size,
-    bool enable_ssl_encryption);
+    bool enable_ssl_encryption, const std::string& token_file_path);
 
 }  // namespace cloud
 }  // namespace cartographer

cartographer/cloud/internal/map_builder_server.cc

@@ -67,7 +67,8 @@ MapBuilderServer::MapBuilderServer(
     local_trajectory_uploader_ = CreateLocalTrajectoryUploader(
         map_builder_server_options.uplink_server_address(),
         map_builder_server_options.upload_batch_size(),
-        map_builder_server_options.enable_ssl_encryption());
+        map_builder_server_options.enable_ssl_encryption(),
+        map_builder_server_options.token_file_path());
   }
   server_builder.RegisterHandler<handlers::AddTrajectoryHandler>();
   server_builder.RegisterHandler<handlers::AddOdometryDataHandler>();

cartographer/cloud/map_builder_server_options.cc

@@ -41,6 +41,8 @@ proto::MapBuilderServerOptions CreateMapBuilderServerOptions(
       lua_parameter_dictionary->GetInt("upload_batch_size"));
   map_builder_server_options.set_enable_ssl_encryption(
       lua_parameter_dictionary->GetBool("enable_ssl_encryption"));
+  map_builder_server_options.set_token_file_path(
+      lua_parameter_dictionary->GetString("token_file_path"));
   return map_builder_server_options;
 }
 

cartographer/cloud/proto/map_builder_server_options.proto

@@ -26,4 +26,5 @@ message MapBuilderServerOptions {
   string uplink_server_address = 5;
   int32 upload_batch_size = 6;
   bool enable_ssl_encryption = 7;
+  string token_file_path = 8;
 }

configuration_files/map_builder_server.lua

@@ -22,4 +22,5 @@ MAP_BUILDER_SERVER = {
   uplink_server_address = "",
   upload_batch_size = 100,
   enable_ssl_encryption = false,
+  token_file_path = "",
 }

scripts/install_async_grpc.sh

@@ -19,7 +19,7 @@ set -o verbose
 
 git clone https://github.com/googlecartographer/async_grpc
 cd async_grpc
-git checkout c2c68f56904a595ab5ba24c1fb19b4b8e954fa15
+git checkout a562634ecea49beac5a08436ca76c6b82efb439b
 mkdir build
 cd build
 cmake -G Ninja \