12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add error messages for gRPC connection failures (#1072) 

Fixes https://github.com/googlecartographer/cartographer_ros/issues/825.
master
Christoph Schütte 2018-04-16 16:40:03 +02:00 committed by Wally B. Feed
parent 7b68844937
commit ce71273737
2 changed files with 25 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
cartographer/cloud/client/map_builder_stub.cc
View File

@ -32,13 +32,22 @@ namespace cloud {
namespace { namespace {
using common::make_unique; using common::make_unique;
constexpr int kConnectionTimeoutInSecond = 10;
} // namespace } // namespace
MapBuilderStub::MapBuilderStub(const std::string& server_address) MapBuilderStub::MapBuilderStub(const std::string& server_address)
: client_channel_(::grpc::CreateChannel( : client_channel_(::grpc::CreateChannel(
server_address, ::grpc::InsecureChannelCredentials())), server_address, ::grpc::InsecureChannelCredentials())),
pose_graph_stub_(make_unique<PoseGraphStub>(client_channel_)) {} pose_graph_stub_(make_unique<PoseGraphStub>(client_channel_)) {
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));
if (!client_channel_->WaitForConnected(deadline)) {
LOG(FATAL) << "Failed to connect to " << server_address;
}
}
int MapBuilderStub::AddTrajectoryBuilder( int MapBuilderStub::AddTrajectoryBuilder(
const std::set<SensorId>& expected_sensor_ids, const std::set<SensorId>& expected_sensor_ids,

18
cartographer/cloud/internal/local_trajectory_uploader.cc
View File

@ -40,13 +40,12 @@ namespace {
using common::make_unique; using common::make_unique;
constexpr int kConnectionTimeoutInSecond = 10;
const common::Duration kPopTimeout = common::FromMilliseconds(100); const common::Duration kPopTimeout = common::FromMilliseconds(100);
class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface { class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
public: public:
LocalTrajectoryUploader(const std::string &uplink_server_address) LocalTrajectoryUploader(const std::string &uplink_server_address);
: client_channel_(::grpc::CreateChannel(
uplink_server_address, ::grpc::InsecureChannelCredentials())) {}
~LocalTrajectoryUploader(); ~LocalTrajectoryUploader();
// Starts the upload thread. // Starts the upload thread.
@ -96,6 +95,19 @@ class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
add_landmark_client_; add_landmark_client_;
}; };
LocalTrajectoryUploader::LocalTrajectoryUploader(
const std::string &uplink_server_address)
: client_channel_(::grpc::CreateChannel(
uplink_server_address, ::grpc::InsecureChannelCredentials())) {
std::chrono::system_clock::time_point deadline(
std::chrono::system_clock::now() +
std::chrono::seconds(kConnectionTimeoutInSecond));
LOG(INFO) << "Connecting to uplink " << uplink_server_address;
if (!client_channel_->WaitForConnected(deadline)) {
LOG(FATAL) << "Failed to connect to " << uplink_server_address;
}
}
LocalTrajectoryUploader::~LocalTrajectoryUploader() { LocalTrajectoryUploader::~LocalTrajectoryUploader() {
if (add_imu_client_) { if (add_imu_client_) {
CHECK(add_imu_client_->StreamWritesDone()); CHECK(add_imu_client_->StreamWritesDone());