FixedFramePoseData in gRPC server (#761)
Defines the FixedFramePoseData RPC and implements the handler for the gRPC server.master
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@ -0,0 +1,53 @@
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/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class AddFixedFramePoseDataHandler
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: public framework::RpcHandler<
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framework::Stream<proto::AddFixedFramePoseDataRequest>,
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google::protobuf::Empty> {
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public:
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void OnRequest(const proto::AddFixedFramePoseDataRequest &request) override {
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// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
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// thread-safe. Therefore it suffices to get an unsynchronized reference to
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// the 'MapBuilderContext'.
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GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->EnqueueSensorData(
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request.sensor_metadata().trajectory_id(),
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request.sensor_metadata().sensor_id(),
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cartographer::sensor::FromProto(request.fixed_frame_pose_data()));
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}
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void OnReadsDone() {
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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@ -16,6 +16,7 @@
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
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#include "cartographer_grpc/handlers/add_imu_data_handler.h"
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#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
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#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
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@ -66,6 +67,9 @@ MapBuilderServer::MapBuilderServer(
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server_builder.RegisterHandler<handlers::AddRangefinderDataHandler,
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proto::MapBuilderService>(
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"AddRangefinderData");
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server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler,
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proto::MapBuilderService>(
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"AddFixedFramePoseData");
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server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
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proto::MapBuilderService>("FinishTrajectory");
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grpc_server_ = server_builder.Build();
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@ -50,6 +50,11 @@ message AddRangefinderDataRequest {
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cartographer.sensor.proto.TimedPointCloudData timed_point_cloud_data = 2;
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}
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message AddFixedFramePoseDataRequest {
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SensorMetadata sensor_metadata = 1;
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cartographer.sensor.proto.FixedFramePoseData fixed_frame_pose_data = 2;
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}
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message FinishTrajectoryRequest {
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int32 trajectory_id = 1;
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}
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@ -63,15 +68,17 @@ service MapBuilderService {
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rpc AddOdometryData(stream AddOdometryDataRequest)
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returns (google.protobuf.Empty);
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// Adds IMU data from the sensor with id 'sensor_metadata.sensor_id' to
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// the trajectory corresponding to 'sensor_metadata.trajectory_id'.
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// Same for IMU data.
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rpc AddImuData(stream AddImuDataRequest) returns (google.protobuf.Empty);
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// Adds range-finder data from the sensor with id 'sensor_metadata.sensor_id'
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// to the trajectory corresponding to 'sensor_metadata.trajectory_id'.
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// Same for range-finder data.
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rpc AddRangefinderData(stream AddRangefinderDataRequest)
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returns (google.protobuf.Empty);
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// Same for fixed-frame pose data.
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rpc AddFixedFramePoseData(stream AddFixedFramePoseDataRequest)
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returns (google.protobuf.Empty);
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// Marks a trajectory corresponding to 'trajectory_id' as finished,
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// i.e. no further sensor data is expected.
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rpc FinishTrajectory(FinishTrajectoryRequest) returns (google.protobuf.Empty);
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