Endpoints for DeleteTrajectory (#1207)

[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md)

cartographer/cloud/internal/client/pose_graph_stub.cc

@@ -16,6 +16,7 @@
 
 #include "cartographer/cloud/internal/client/pose_graph_stub.h"
 #include "async_grpc/client.h"
+#include "cartographer/cloud/internal/handlers/delete_trajectory_handler.h"
 #include "cartographer/cloud/internal/handlers/get_all_submap_poses.h"
 #include "cartographer/cloud/internal/handlers/get_constraints_handler.h"
 #include "cartographer/cloud/internal/handlers/get_landmark_poses_handler.h"
@@ -136,7 +137,11 @@ void PoseGraphStub::SetLandmarkPose(const std::string& landmark_id,
 }
 
 void PoseGraphStub::DeleteTrajectory(int trajectory_id) {
-  LOG(FATAL) << "not implemented";
+  proto::DeleteTrajectoryRequest request;
+  request.set_trajectory_id(trajectory_id);
+  async_grpc::Client<handlers::DeleteTrajectorySignature> client(
+      client_channel_);
+  CHECK(client.Write(request));
 }
 
 bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) const {

cartographer/cloud/internal/client_server_test.cc

@@ -318,6 +318,37 @@ TEST_F(ClientServerTest, LocalSlam2D) {
   server_->Shutdown();
 }
 
+TEST_F(ClientServerTest, LocalSlamAndDelete2D) {
+  InitializeRealServer();
+  server_->Start();
+  InitializeStub();
+  int trajectory_id =
+      stub_->AddTrajectoryBuilder({kRangeSensorId}, trajectory_builder_options_,
+                                  local_slam_result_callback_);
+  TrajectoryBuilderInterface* trajectory_stub =
+      stub_->GetTrajectoryBuilder(trajectory_id);
+  const auto measurements = mapping::testing::GenerateFakeRangeMeasurements(
+      kTravelDistance, kDuration, kTimeStep);
+  for (const auto& measurement : measurements) {
+    trajectory_stub->AddSensorData(kRangeSensorId.id, measurement);
+  }
+  WaitForLocalSlamResults(measurements.size());
+  stub_->pose_graph()->RunFinalOptimization();
+  // TODO(gaschler): Enable after pending PR has merged.
+  // EXPECT_EQ(stub_->pose_graph()->GetTrajectoryStates().at(trajectory_id),
+  //          PoseGraphInterface::TrajectoryState::ACTIVE);
+  EXPECT_GT(stub_->pose_graph()->GetAllSubmapPoses().size(), 0);
+  EXPECT_GT(stub_->pose_graph()->GetTrajectoryNodePoses().size(), 0);
+  stub_->FinishTrajectory(trajectory_id);
+  stub_->pose_graph()->DeleteTrajectory(trajectory_id);
+  stub_->pose_graph()->RunFinalOptimization();
+  // EXPECT_EQ(stub_->pose_graph()->GetTrajectoryStates().at(trajectory_id),
+  //          PoseGraphInterface::TrajectoryState::DELETED);
+  EXPECT_EQ(stub_->pose_graph()->GetAllSubmapPoses().size(), 0);
+  EXPECT_EQ(stub_->pose_graph()->GetTrajectoryNodePoses().size(), 0);
+  server_->Shutdown();
+}
+
 TEST_F(ClientServerTest, GlobalSlam3D) {
   map_builder_server_options_.mutable_map_builder_options()
       ->set_use_trajectory_builder_2d(false);

cartographer/cloud/internal/handlers/delete_trajectory_handler.cc

@@ -0,0 +1,41 @@
+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer/cloud/internal/handlers/delete_trajectory_handler.h"
+
+#include "async_grpc/rpc_handler.h"
+#include "cartographer/cloud/internal/map_builder_context_interface.h"
+#include "cartographer/cloud/proto/map_builder_service.pb.h"
+#include "cartographer/common/make_unique.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer {
+namespace cloud {
+namespace handlers {
+
+void DeleteTrajectoryHandler::OnRequest(
+    const proto::DeleteTrajectoryRequest& request) {
+  GetContext<MapBuilderContextInterface>()
+      ->map_builder()
+      .pose_graph()
+      ->DeleteTrajectory(request.trajectory_id());
+  // TODO(gaschler): Think if LocalSlamUploader needs to be notified.
+  Send(common::make_unique<google::protobuf::Empty>());
+}
+
+}  // namespace handlers
+}  // namespace cloud
+}  // namespace cartographer

cartographer/cloud/internal/handlers/delete_trajectory_handler.h

@@ -0,0 +1,43 @@
+/*
+ * 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_CLOUD_INTERNAL_HANDLERS_DELETE_TRAJECTORY_HANDLER_H
+#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_DELETE_TRAJECTORY_HANDLER_H
+
+#include "async_grpc/rpc_handler.h"
+#include "cartographer/cloud/proto/map_builder_service.pb.h"
+#include "google/protobuf/empty.pb.h"
+
+namespace cartographer {
+namespace cloud {
+namespace handlers {
+
+DEFINE_HANDLER_SIGNATURE(
+    DeleteTrajectorySignature, proto::DeleteTrajectoryRequest,
+    google::protobuf::Empty,
+    "/cartographer.cloud.proto.MapBuilderService/DeleteTrajectory")
+
+class DeleteTrajectoryHandler
+    : public async_grpc::RpcHandler<DeleteTrajectorySignature> {
+ public:
+  void OnRequest(const proto::DeleteTrajectoryRequest& request) override;
+};
+
+}  // namespace handlers
+}  // namespace cloud
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_DELETE_TRAJECTORY_HANDLER_H

cartographer/cloud/internal/map_builder_server.cc

@@ -23,6 +23,7 @@
 #include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.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/delete_trajectory_handler.h"
 #include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h"
 #include "cartographer/cloud/internal/handlers/get_all_submap_poses.h"
 #include "cartographer/cloud/internal/handlers/get_constraints_handler.h"
@@ -74,6 +75,7 @@ MapBuilderServer::MapBuilderServer(
   server_builder.RegisterHandler<handlers::AddLandmarkDataHandler>();
   server_builder.RegisterHandler<handlers::AddSensorDataBatchHandler>();
   server_builder.RegisterHandler<handlers::FinishTrajectoryHandler>();
+  server_builder.RegisterHandler<handlers::DeleteTrajectoryHandler>();
   server_builder
       .RegisterHandler<handlers::ReceiveGlobalSlamOptimizationsHandler>();
   server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler>();

cartographer/cloud/proto/map_builder_service.proto

@@ -98,6 +98,10 @@ message FinishTrajectoryRequest {
   int32 trajectory_id = 1;
 }
 
+message DeleteTrajectoryRequest {
+  int32 trajectory_id = 1;
+}
+
 message ReceiveLocalSlamResultsRequest {
   int32 trajectory_id = 1;
 }
@@ -245,6 +249,9 @@ service MapBuilderService {
   // i.e. no further sensor data is expected.
   rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);
 
+  // Deletes a trajectory asynchronously.
+  rpc DeleteTrajectory(DeleteTrajectoryRequest) returns (google.protobuf.Empty);
+
   // Retrieves a single submap.
   rpc GetSubmap(GetSubmapRequest) returns (GetSubmapResponse);