Hide 'handlers' to internal/. (#952)

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

`LocalTrajectoryUploader` implementation was hidden in the anonymous namespace in `local_trajectory_uploader.cc` to remove dependency from handlers/ in the header. The follow-up PR will include splitting the files into `local_trajectory_uploader_interface.h` & `internal/local_trajectory_uploader.*`

cartographer_grpc/client/map_builder_stub.cc

@@ -16,13 +16,13 @@
 
 #include "cartographer_grpc/client/map_builder_stub.h"
 
-#include "cartographer_grpc/handlers/add_trajectory_handler.h"
-#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
-#include "cartographer_grpc/handlers/get_submap_handler.h"
-#include "cartographer_grpc/handlers/load_state_handler.h"
-#include "cartographer_grpc/handlers/write_state_handler.h"
 #include "cartographer_grpc/internal/client/pose_graph_stub.h"
 #include "cartographer_grpc/internal/client/trajectory_builder_stub.h"
+#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/finish_trajectory_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/write_state_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "cartographer_grpc/sensor/serialization.h"
 #include "glog/logging.h"

cartographer_grpc/internal/client/pose_graph_stub.cc

@@ -17,12 +17,12 @@
 #include "cartographer_grpc/internal/client/pose_graph_stub.h"
 #include "cartographer/mapping/pose_graph.h"
 #include "cartographer_grpc/framework/client.h"
-#include "cartographer_grpc/handlers/get_all_submap_poses.h"
+#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h"
-#include "cartographer_grpc/handlers/get_constraints_handler.h"
+#include "cartographer_grpc/internal/handlers/get_constraints_handler.h"
-#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
+#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"
-#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
+#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h"
-#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
+#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h"
-#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
+#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"
 #include "glog/logging.h"
 
 namespace cartographer_grpc {

cartographer_grpc/internal/client/trajectory_builder_stub.h

@@ -22,13 +22,13 @@
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer_grpc/framework/client.h"
-#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
-#include "cartographer_grpc/handlers/add_imu_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
-#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
-#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h"
-#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
-#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h"
-#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
+#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h"
 #include "grpc++/grpc++.h"
 #include "pose_graph_stub.h"
 #include "trajectory_builder_stub.h"

cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/dispatchable.h"

cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class AddFixedFramePoseDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/add_imu_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_imu_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/dispatchable.h"

cartographer_grpc/internal/handlers/add_imu_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_IMU_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -38,4 +38,4 @@ class AddImuDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_IMU_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/add_landmark_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/dispatchable.h"

cartographer_grpc/internal/handlers/add_landmark_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class AddLandmarkDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/local_slam_result_data.h"

cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class AddLocalSlamResultDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_odometry_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/dispatchable.h"

cartographer_grpc/internal/handlers/add_odometry_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class AddOdometryDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/sensor/dispatchable.h"

cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class AddRangefinderDataHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H

cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/add_trajectory_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/add_trajectory_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -36,4 +36,4 @@ class AddTrajectoryHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H

cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/add_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
 #include "cartographer_grpc/sensor/serialization.h"
 #include "cartographer_grpc/testing/handler_test.h"
 #include "cartographer_grpc/testing/mock_map_builder.h"

cartographer_grpc/internal/handlers/finish_trajectory_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/finish_trajectory_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class FinishTrajectoryHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H

cartographer_grpc/internal/handlers/get_all_submap_poses.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/get_all_submap_poses.h"
+#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/get_all_submap_poses.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class GetAllSubmapPosesHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H

cartographer_grpc/internal/handlers/get_constraints_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/get_constraints_handler.h"
+#include "cartographer_grpc/internal/handlers/get_constraints_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/pose_graph.h"

cartographer_grpc/internal/handlers/get_constraints_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class GetConstraintsHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H

cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
+#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/get_landmark_poses_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class GetLandmarkPosesHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H

cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/testing/test_helpers.h"
 #include "google/protobuf/text_format.h"

cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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/map_builder_context_interface.h"

cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -39,4 +39,4 @@ class GetLocalToGlobalTransformHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H

cartographer_grpc/internal/handlers/get_submap_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/get_submap_handler.h"
+#include "cartographer_grpc/internal/handlers/get_submap_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/get_submap_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class GetSubmapHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H

cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
-#define CARTOGRAPHER_GRPC_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/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class GetTrajectoryNodePosesHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H

cartographer_grpc/internal/handlers/load_state_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/load_state_handler.h"
+#include "cartographer_grpc/internal/handlers/load_state_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/io/in_memory_proto_stream.h"

cartographer_grpc/internal/handlers/load_state_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H
 
 #include "cartographer/io/in_memory_proto_stream.h"
 #include "cartographer_grpc/framework/rpc_handler.h"
@@ -42,4 +42,4 @@ class LoadStateHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H

cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/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_grpc/framework/rpc_handler.h"

cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
 
 #include <memory>
 
@@ -44,4 +44,4 @@ class ReceiveLocalSlamResultsHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H

cartographer_grpc/internal/handlers/run_final_optimization_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
+#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/map_builder_interface.h"

cartographer_grpc/internal/handlers/run_final_optimization_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
-#define CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class RunFinalOptimizationHandler
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H

cartographer_grpc/internal/handlers/write_state_handler.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer_grpc/handlers/write_state_handler.h"
+#include "cartographer_grpc/internal/handlers/write_state_handler.h"
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/io/in_memory_proto_stream.h"

cartographer_grpc/internal/handlers/write_state_handler.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
+#ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
-#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
+#define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H
 
 #include "cartographer_grpc/framework/rpc_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
@@ -37,4 +37,4 @@ class WriteStateHandler : public framework::RpcHandler<
 }  // namespace handlers
 }  // namespace cartographer_grpc
 
-#endif  // CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
+#endif  // CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H

cartographer_grpc/local_trajectory_uploader.cc

@@ -15,25 +15,88 @@
  */
 
 #include "cartographer_grpc/local_trajectory_uploader.h"
+
+#include <map>
+#include <thread>
+
 #include "cartographer/common/make_unique.h"
-#include "cartographer_grpc/handlers/add_trajectory_handler.h"
+#include "cartographer_grpc/framework/client.h"
-#include "cartographer_grpc/handlers/finish_trajectory_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_landmark_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_local_slam_result_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/finish_trajectory_handler.h"
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 #include "cartographer_grpc/sensor/serialization.h"
 #include "glog/logging.h"
+#include "grpc++/grpc++.h"
 
 namespace cartographer_grpc {
 namespace {
 
+using ::cartographer::common::make_unique;
+
 const cartographer::common::Duration kPopTimeout =
     cartographer::common::FromMilliseconds(100);
 
-}  // namespace
+class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
+ public:
+  LocalTrajectoryUploader(const std::string &uplink_server_address)
+      : client_channel_(grpc::CreateChannel(
+            uplink_server_address, grpc::InsecureChannelCredentials())) {}
+  ~LocalTrajectoryUploader();
 
-LocalTrajectoryUploader::LocalTrajectoryUploader(
+  // Starts the upload thread.
-    const std::string &uplink_server_address)
+  void Start() final;
-    : client_channel_(grpc::CreateChannel(
+
-          uplink_server_address, grpc::InsecureChannelCredentials())) {}
+  // Shuts down the upload thread. This method blocks until the shutdown is
+  // complete.
+  void Shutdown() final;
+
+  void AddTrajectory(
+      int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
+      const cartographer::mapping::proto::TrajectoryBuilderOptions
+          &trajectory_options) final;
+  void FinishTrajectory(int local_trajectory_id) final;
+  void EnqueueDataRequest(
+      std::unique_ptr<google::protobuf::Message> data_request) final;
+
+  SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const final {
+    return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
+                    "local_slam_result_" + std::to_string(local_trajectory_id)};
+  }
+
+ private:
+  void ProcessSendQueue();
+  void TranslateTrajectoryId(proto::SensorMetadata *sensor_metadata);
+  void ProcessFixedFramePoseDataMessage(
+      proto::AddFixedFramePoseDataRequest *data_request);
+  void ProcessImuDataMessage(proto::AddImuDataRequest *data_request);
+  void ProcessLocalSlamResultDataMessage(
+      proto::AddLocalSlamResultDataRequest *data_request);
+  void ProcessOdometryDataMessage(proto::AddOdometryDataRequest *data_request);
+  void ProcessLandmarkDataMessage(proto::AddLandmarkDataRequest *data_request);
+
+  std::shared_ptr<grpc::Channel> client_channel_;
+  std::map<int, int> local_to_cloud_trajectory_id_map_;
+  cartographer::common::BlockingQueue<
+      std::unique_ptr<google::protobuf::Message>>
+      send_queue_;
+  bool shutting_down_ = false;
+  std::unique_ptr<std::thread> upload_thread_;
+  std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
+      add_fixed_frame_pose_client_;
+  std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
+      add_imu_client_;
+  std::unique_ptr<framework::Client<handlers::AddLocalSlamResultDataHandler>>
+      add_local_slam_result_client_;
+  std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
+      add_odometry_client_;
+  std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
+      add_landmark_client_;
+};
 
 LocalTrajectoryUploader::~LocalTrajectoryUploader() {
   if (add_imu_client_) {
@@ -61,8 +124,8 @@ LocalTrajectoryUploader::~LocalTrajectoryUploader() {
 void LocalTrajectoryUploader::Start() {
   CHECK(!shutting_down_);
   CHECK(!upload_thread_);
-  upload_thread_ = cartographer::common::make_unique<std::thread>(
+  upload_thread_ =
-      [this]() { this->ProcessSendQueue(); });
+      make_unique<std::thread>([this]() { this->ProcessSendQueue(); });
 }
 
 void LocalTrajectoryUploader::Shutdown() {
@@ -113,9 +176,9 @@ void LocalTrajectoryUploader::TranslateTrajectoryId(
 void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
     proto::AddFixedFramePoseDataRequest *data_request) {
   if (!add_fixed_frame_pose_client_) {
-    add_fixed_frame_pose_client_ = cartographer::common::make_unique<
+    add_fixed_frame_pose_client_ =
-        framework::Client<handlers::AddFixedFramePoseDataHandler>>(
+        make_unique<framework::Client<handlers::AddFixedFramePoseDataHandler>>(
-        client_channel_);
+            client_channel_);
   }
   TranslateTrajectoryId(data_request->mutable_sensor_metadata());
   CHECK(add_fixed_frame_pose_client_->Write(*data_request));
@@ -124,8 +187,9 @@ void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
 void LocalTrajectoryUploader::ProcessImuDataMessage(
     proto::AddImuDataRequest *data_request) {
   if (!add_imu_client_) {
-    add_imu_client_ = cartographer::common::make_unique<
+    add_imu_client_ =
-        framework::Client<handlers::AddImuDataHandler>>(client_channel_);
+        make_unique<framework::Client<handlers::AddImuDataHandler>>(
+            client_channel_);
   }
   TranslateTrajectoryId(data_request->mutable_sensor_metadata());
   CHECK(add_imu_client_->Write(*data_request));
@@ -134,8 +198,9 @@ void LocalTrajectoryUploader::ProcessImuDataMessage(
 void LocalTrajectoryUploader::ProcessOdometryDataMessage(
     proto::AddOdometryDataRequest *data_request) {
   if (!add_odometry_client_) {
-    add_odometry_client_ = cartographer::common::make_unique<
+    add_odometry_client_ =
-        framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
+        make_unique<framework::Client<handlers::AddOdometryDataHandler>>(
+            client_channel_);
   }
   TranslateTrajectoryId(data_request->mutable_sensor_metadata());
   CHECK(add_odometry_client_->Write(*data_request));
@@ -144,8 +209,9 @@ void LocalTrajectoryUploader::ProcessOdometryDataMessage(
 void LocalTrajectoryUploader::ProcessLandmarkDataMessage(
     proto::AddLandmarkDataRequest *data_request) {
   if (!add_landmark_client_) {
-    add_landmark_client_ = cartographer::common::make_unique<
+    add_landmark_client_ =
-        framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
+        make_unique<framework::Client<handlers::AddLandmarkDataHandler>>(
+            client_channel_);
   }
   TranslateTrajectoryId(data_request->mutable_sensor_metadata());
   CHECK(add_landmark_client_->Write(*data_request));
@@ -154,9 +220,9 @@ void LocalTrajectoryUploader::ProcessLandmarkDataMessage(
 void LocalTrajectoryUploader::ProcessLocalSlamResultDataMessage(
     proto::AddLocalSlamResultDataRequest *data_request) {
   if (!add_local_slam_result_client_) {
-    add_local_slam_result_client_ = cartographer::common::make_unique<
+    add_local_slam_result_client_ =
-        framework::Client<handlers::AddLocalSlamResultDataHandler>>(
+        make_unique<framework::Client<handlers::AddLocalSlamResultDataHandler>>(
-        client_channel_);
+            client_channel_);
   }
   TranslateTrajectoryId(data_request->mutable_sensor_metadata());
   // A submap also holds a trajectory id that must be translated to uplink's
@@ -205,4 +271,11 @@ void LocalTrajectoryUploader::EnqueueDataRequest(
   send_queue_.Push(std::move(data_request));
 }
 
+}  // namespace
+
+std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
+    const std::string &uplink_server_address) {
+  return make_unique<LocalTrajectoryUploader>(uplink_server_address);
+}
+
 }  // namespace cartographer_grpc

cartographer_grpc/local_trajectory_uploader.h

@@ -17,23 +17,12 @@
 #ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
 #define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
 
-#include <map>
 #include <memory>
 #include <set>
 #include <string>
-#include <thread>
 
-#include "cartographer/common/blocking_queue.h"
 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
-#include "cartographer_grpc/framework/client.h"
-#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
-#include "cartographer_grpc/handlers/add_imu_data_handler.h"
-#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
-#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
-#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
-#include "cartographer_grpc/proto/map_builder_service.pb.h"
-#include "grpc++/grpc++.h"
 
 namespace cartographer_grpc {
 
@@ -43,6 +32,13 @@ class LocalTrajectoryUploaderInterface {
 
   virtual ~LocalTrajectoryUploaderInterface() = default;
 
+  // Starts the upload thread.
+  virtual void Start() = 0;
+
+  // Shuts down the upload thread. This method blocks until the shutdown is
+  // complete.
+  virtual void Shutdown() = 0;
+
   // Enqueue an Add*DataRequest message to be uploaded.
   virtual void EnqueueDataRequest(
       std::unique_ptr<google::protobuf::Message> data_request) = 0;
@@ -56,60 +52,9 @@ class LocalTrajectoryUploaderInterface {
       int local_trajectory_id) const = 0;
 };
 
-class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
+// Returns LocalTrajectoryUploader with the actual implementation.
- public:
+std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
-  LocalTrajectoryUploader(const std::string& uplink_server_address);
+    const std::string& uplink_server_address);
-  ~LocalTrajectoryUploader();
-
-  // Starts the upload thread.
-  void Start();
-
-  // Shuts down the upload thread. This method blocks until the shutdown is
-  // complete.
-  void Shutdown();
-
-  void AddTrajectory(
-      int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
-      const cartographer::mapping::proto::TrajectoryBuilderOptions&
-          trajectory_options) override;
-  void FinishTrajectory(int local_trajectory_id) override;
-  void EnqueueDataRequest(
-      std::unique_ptr<google::protobuf::Message> data_request) override;
-
-  SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const override {
-    return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
-                    "local_slam_result_" + std::to_string(local_trajectory_id)};
-  }
-
- private:
-  void ProcessSendQueue();
-  void TranslateTrajectoryId(proto::SensorMetadata* sensor_metadata);
-  void ProcessFixedFramePoseDataMessage(
-      proto::AddFixedFramePoseDataRequest* data_request);
-  void ProcessImuDataMessage(proto::AddImuDataRequest* data_request);
-  void ProcessLocalSlamResultDataMessage(
-      proto::AddLocalSlamResultDataRequest* data_request);
-  void ProcessOdometryDataMessage(proto::AddOdometryDataRequest* data_request);
-  void ProcessLandmarkDataMessage(proto::AddLandmarkDataRequest* data_request);
-
-  std::shared_ptr<grpc::Channel> client_channel_;
-  std::map<int, int> local_to_cloud_trajectory_id_map_;
-  cartographer::common::BlockingQueue<
-      std::unique_ptr<google::protobuf::Message>>
-      send_queue_;
-  bool shutting_down_ = false;
-  std::unique_ptr<std::thread> upload_thread_;
-  std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
-      add_fixed_frame_pose_client_;
-  std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
-      add_imu_client_;
-  std::unique_ptr<framework::Client<handlers::AddLocalSlamResultDataHandler>>
-      add_local_slam_result_client_;
-  std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
-      add_odometry_client_;
-  std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
-      add_landmark_client_;
-};
 
 }  // namespace cartographer_grpc
 

cartographer_grpc/map_builder_server.cc

@@ -16,24 +16,24 @@
 
 #include "cartographer_grpc/map_builder_server.h"
 
-#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
-#include "cartographer_grpc/handlers/add_imu_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
-#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
-#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h"
-#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
-#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
+#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h"
-#include "cartographer_grpc/handlers/add_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
-#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
+#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h"
-#include "cartographer_grpc/handlers/get_all_submap_poses.h"
+#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h"
-#include "cartographer_grpc/handlers/get_constraints_handler.h"
+#include "cartographer_grpc/internal/handlers/get_constraints_handler.h"
-#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
+#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h"
-#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
+#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h"
-#include "cartographer_grpc/handlers/get_submap_handler.h"
+#include "cartographer_grpc/internal/handlers/get_submap_handler.h"
-#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
+#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h"
-#include "cartographer_grpc/handlers/load_state_handler.h"
+#include "cartographer_grpc/internal/handlers/load_state_handler.h"
-#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
+#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h"
-#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
+#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"
-#include "cartographer_grpc/handlers/write_state_handler.h"
+#include "cartographer_grpc/internal/handlers/write_state_handler.h"
 #include "cartographer_grpc/sensor/serialization.h"
 #include "glog/logging.h"
 
@@ -56,9 +56,8 @@ MapBuilderServer::MapBuilderServer(
   server_builder.SetNumEventThreads(
       map_builder_server_options.num_event_threads());
   if (!map_builder_server_options.uplink_server_address().empty()) {
-    local_trajectory_uploader_ =
+    local_trajectory_uploader_ = CreateLocalTrajectoryUploader(
-        cartographer::common::make_unique<LocalTrajectoryUploader>(
+        map_builder_server_options.uplink_server_address());
-            map_builder_server_options.uplink_server_address());
   }
   server_builder.RegisterHandler<handlers::AddTrajectoryHandler>();
   server_builder.RegisterHandler<handlers::AddOdometryDataHandler>();

cartographer_grpc/map_builder_server.h

@@ -86,7 +86,7 @@ class MapBuilderServer {
   int current_subscription_index_ = 0;
   std::map<int /* trajectory ID */, LocalSlamResultHandlerSubscriptions>
       local_slam_subscriptions_ GUARDED_BY(local_slam_subscriptions_lock_);
-  std::unique_ptr<LocalTrajectoryUploader> local_trajectory_uploader_;
+  std::unique_ptr<LocalTrajectoryUploaderInterface> local_trajectory_uploader_;
   int starting_submap_index_ = 0;
 };
 

cartographer_grpc/testing/mock_local_trajectory_uploader.h

@@ -32,6 +32,8 @@ class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
       std::unique_ptr<google::protobuf::Message> data_request) override {
     DoEnqueueDataRequest(data_request.get());
   }
+  MOCK_METHOD0(Start, void());
+  MOCK_METHOD0(Shutdown, void());
   MOCK_METHOD3(
       AddTrajectory,
       void(int, const std::set<SensorId> &,