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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.*`
master
Alexander Belyaev 2018-03-02 11:38:35 +01:00 committed by GitHub
parent a2219cb2fc
commit d05e5d99f4
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
51 changed files with 224 additions and 205 deletions
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10
cartographer_grpc/client/map_builder_stub.cc
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@ -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"

12
cartographer_grpc/internal/client/pose_graph_stub.cc
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@ -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/handlers/get_constraints_handler.h"
#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization_handler.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_landmark_poses_handler.h"
#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"
#include "glog/logging.h"
namespace cartographer_grpc {

14
cartographer_grpc/internal/client/trajectory_builder_stub.h
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@ -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/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/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_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_rangefinder_data_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"

2
cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.cc → cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h → cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
#define 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_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

2
cartographer_grpc/handlers/add_fixed_frame_pose_data_handler_test.cc → cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/add_imu_data_handler.cc → cartographer_grpc/internal/handlers/add_imu_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_imu_data_handler.h → cartographer_grpc/internal/handlers/add_imu_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_IMU_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/add_imu_data_handler_test.cc → cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/add_landmark_data_handler.cc → cartographer_grpc/internal/handlers/add_landmark_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_landmark_data_handler.h → cartographer_grpc/internal/handlers/add_landmark_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/add_landmark_data_handler_test.cc → cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/add_local_slam_result_data_handler.cc → cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_local_slam_result_data_handler.h → cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H
#define 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_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

2
cartographer_grpc/handlers/add_odometry_data_handler.cc → cartographer_grpc/internal/handlers/add_odometry_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_odometry_data_handler.h → cartographer_grpc/internal/handlers/add_odometry_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/add_odometry_data_handler_test.cc → cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/add_rangefinder_data_handler.cc → cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_rangefinder_data_handler.h → cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/add_rangefinder_data_handler_test.cc → cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/add_trajectory_handler.cc → cartographer_grpc/internal/handlers/add_trajectory_handler.cc
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@ -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"

6
cartographer_grpc/handlers/add_trajectory_handler.h → cartographer_grpc/internal/handlers/add_trajectory_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#ifndef 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/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

2
cartographer_grpc/handlers/add_trajectory_handler_test.cc → cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc
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@ -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"

2
cartographer_grpc/handlers/finish_trajectory_handler.cc → cartographer_grpc/internal/handlers/finish_trajectory_handler.cc
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@ -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"

6
cartographer_grpc/handlers/finish_trajectory_handler.h → cartographer_grpc/internal/handlers/finish_trajectory_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#ifndef 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/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

2
cartographer_grpc/handlers/get_all_submap_poses.cc → cartographer_grpc/internal/handlers/get_all_submap_poses.cc
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@ -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"

6
cartographer_grpc/handlers/get_all_submap_poses.h → cartographer_grpc/internal/handlers/get_all_submap_poses.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/get_constraints_handler.cc → cartographer_grpc/internal/handlers/get_constraints_handler.cc
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@ -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"

6
cartographer_grpc/handlers/get_constraints_handler.h → cartographer_grpc/internal/handlers/get_constraints_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_GET_CONSTRAINTS_HANDLER_H
#ifndef 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/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

2
cartographer_grpc/handlers/get_landmark_poses_handler.cc → cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc
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@ -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"

6
cartographer_grpc/handlers/get_landmark_poses_handler.h → cartographer_grpc/internal/handlers/get_landmark_poses_handler.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LANDMARK_POSES_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/get_landmark_poses_handler_test.cc → cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc
View File

@ -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"

2
cartographer_grpc/handlers/get_local_to_global_transform_handler.cc → cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/get_local_to_global_transform_handler.h → cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
#define 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_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

2
cartographer_grpc/handlers/get_submap_handler.cc → cartographer_grpc/internal/handlers/get_submap_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/get_submap_handler.h → cartographer_grpc/internal/handlers/get_submap_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_GET_SUBMAP_HANDLER_H
#ifndef 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/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

2
cartographer_grpc/handlers/get_trajectory_node_poses_handler.cc → cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/get_trajectory_node_poses_handler.h → cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
#define CARTOGRAPHER_GRPC_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
#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

2
cartographer_grpc/handlers/load_state_handler.cc → cartographer_grpc/internal/handlers/load_state_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/load_state_handler.h → cartographer_grpc/internal/handlers/load_state_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_STATE_HANDLER_H
#ifndef 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_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

2
cartographer_grpc/handlers/receive_local_slam_results_handler.cc → cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/receive_local_slam_results_handler.h → cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
#ifndef CARTOGRAPHER_GRPC_INTERNAL_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

2
cartographer_grpc/handlers/run_final_optimization_handler.cc → cartographer_grpc/internal/handlers/run_final_optimization_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/run_final_optimization_handler.h → cartographer_grpc/internal/handlers/run_final_optimization_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
#define CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
#ifndef 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/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

2
cartographer_grpc/handlers/write_state_handler.cc → cartographer_grpc/internal/handlers/write_state_handler.cc
View File

@ -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"

6
cartographer_grpc/handlers/write_state_handler.h → cartographer_grpc/internal/handlers/write_state_handler.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_STATE_HANDLER_H
#ifndef 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/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

115
cartographer_grpc/local_trajectory_uploader.cc
View File

@ -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/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/framework/client.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(
const std::string &uplink_server_address)
: client_channel_(grpc::CreateChannel(
uplink_server_address, grpc::InsecureChannelCredentials())) {}
// Starts the upload thread.
void Start() final;
// 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>(
[this]() { this->ProcessSendQueue(); });
upload_thread_ =
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<
framework::Client<handlers::AddFixedFramePoseDataHandler>>(
client_channel_);
add_fixed_frame_pose_client_ =
make_unique<framework::Client<handlers::AddFixedFramePoseDataHandler>>(
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<
framework::Client<handlers::AddImuDataHandler>>(client_channel_);
add_imu_client_ =
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<
framework::Client<handlers::AddOdometryDataHandler>>(client_channel_);
add_odometry_client_ =
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<
framework::Client<handlers::AddLandmarkDataHandler>>(client_channel_);
add_landmark_client_ =
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<
framework::Client<handlers::AddLocalSlamResultDataHandler>>(
client_channel_);
add_local_slam_result_client_ =
make_unique<framework::Client<handlers::AddLocalSlamResultDataHandler>>(
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

75
cartographer_grpc/local_trajectory_uploader.h
View File

@ -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 {
public:
LocalTrajectoryUploader(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_;
};
// Returns LocalTrajectoryUploader with the actual implementation.
std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
const std::string& uplink_server_address);
} // namespace cartographer_grpc

41
cartographer_grpc/map_builder_server.cc
View File

@ -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/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/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/get_all_submap_poses.h"
#include "cartographer_grpc/handlers/get_constraints_handler.h"
#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/handlers/load_state_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
#include "cartographer_grpc/handlers/write_state_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_rangefinder_data_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/get_all_submap_poses.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_local_to_global_transform_handler.h"
#include "cartographer_grpc/internal/handlers/get_submap_handler.h"
#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h"
#include "cartographer_grpc/internal/handlers/load_state_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/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_ =
cartographer::common::make_unique<LocalTrajectoryUploader>(
map_builder_server_options.uplink_server_address());
local_trajectory_uploader_ = CreateLocalTrajectoryUploader(
map_builder_server_options.uplink_server_address());
}
server_builder.RegisterHandler<handlers::AddTrajectoryHandler>();
server_builder.RegisterHandler<handlers::AddOdometryDataHandler>();

2
cartographer_grpc/map_builder_server.h
View File

@ -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;
};

2
cartographer_grpc/testing/mock_local_trajectory_uploader.h
View File

@ -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> &,