Implementation of Add/FinishTrajectoryHandler. (#732)

master
Christoph Schütte 2017-12-05 16:36:54 +01:00 committed by GitHub
parent 697be9a77b
commit ded778cd34
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3 changed files with 102 additions and 0 deletions

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@ -0,0 +1,51 @@
/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc {
namespace handlers {
class AddTrajectoryHandler
: public framework::RpcHandler<proto::AddTrajectoryRequest,
proto::AddTrajectoryResponse> {
public:
void OnRequest(const proto::AddTrajectoryRequest& request) override {
const int trajectory_id =
GetContext<MapBuilderServer::MapBuilderContext>()
->map_builder()
.AddTrajectoryBuilder(std::unordered_set<std::string>(
request.expected_sensor_ids().begin(),
request.expected_sensor_ids().end()),
request.trajectory_builder_options(),
nullptr /* local_slam_result_callback */);
auto response =
cartographer::common::make_unique<proto::AddTrajectoryResponse>();
response->set_trajectory_id(trajectory_id);
Send(std::move(response));
}
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H

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@ -0,0 +1,45 @@
/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
namespace cartographer_grpc {
namespace handlers {
class FinishTrajectoryHandler
: public framework::RpcHandler<proto::FinishTrajectoryRequest,
google::protobuf::Empty> {
public:
void OnRequest(const proto::FinishTrajectoryRequest& request) override {
GetContext<MapBuilderServer::MapBuilderContext>()
->map_builder()
.FinishTrajectory(request.trajectory_id());
Send(std::move(
cartographer::common::make_unique<google::protobuf::Empty>()));
}
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_FINISH_TRAJECTORY_HANDLER_H

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@ -15,6 +15,8 @@
*/ */
#include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h" #include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -27,6 +29,10 @@ MapBuilderServer::MapBuilderServer(
server_builder.SetServerAddress(map_builder_server_options.server_address()); server_builder.SetServerAddress(map_builder_server_options.server_address());
server_builder.SetNumberOfThreads( server_builder.SetNumberOfThreads(
map_builder_server_options.num_grpc_threads()); map_builder_server_options.num_grpc_threads());
server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
proto::MapBuilderService>("AddTrajectory");
server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
proto::MapBuilderService>("FinishTrajectory");
grpc_server_ = server_builder.Build(); grpc_server_ = server_builder.Build();
grpc_server_->SetExecutionContext( grpc_server_->SetExecutionContext(
cartographer::common::make_unique<MapBuilderContext>(&map_builder_)); cartographer::common::make_unique<MapBuilderContext>(&map_builder_));