86a8944589
Implement tests for various data adding handlers ( #881 )
2018-02-02 01:16:14 +01:00
92fa1782f3
Implement RetryStrategies and use for AddTrajectory ( #880 )
2018-02-01 22:31:33 +01:00
9eaf960936
Configure remaining tests in bazel ( #879 )
2018-02-01 21:58:59 +01:00
302320b1a9
Use framework::Client everywhere. ( #875 )
...
This switches all gRPC method invocation to using framework::Client. After this change we can remove the gRPC proto compiler from the build files.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-02-01 17:19:15 +01:00
731bc89f22
Move handlers to cc, use MapBuilderContextInterface ( #873 )
...
This is to avoid a circular dependency with LocalTrajectoryUploader and to clean up.
2018-02-01 14:34:41 +01:00
60e9fa59fe
Implement AddImuDataHandlerTest ( #872 )
...
This PR introduces first gRPC handler test that takes advantage of new RpcHandlerTestServer.
2018-02-01 13:05:08 +01:00
eb3e63bad6
Implement WriteMapHandler. ( #851 )
2018-02-01 11:21:50 +01:00
27e8c84f2e
Introduce MapBuilderContextInterface ( #869 )
2018-01-31 19:22:08 +01:00
a749d28a67
Introduce framework::Client ( #867 )
...
Introduces a framework::Client class that makes it more convenient to call gRPC methods.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-31 17:45:57 +01:00
ad4dc3c4d3
Bazel: build with -Wno-sign-compare ( #863 )
...
This avoids warnings for code like:
```
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
```
2018-01-31 15:19:36 +01:00
855743cac4
Check handler signature ( #866 )
2018-01-31 14:46:59 +01:00
9aecf23a37
Simplify Handler registration. ( #865 )
2018-01-31 12:26:56 +01:00
a7ed7e224f
Upload LocalSlamResultData ( #858 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2018-01-29 14:02:33 +01:00
7d2e39af4b
gRPC handler testing ( #857 )
2018-01-29 12:01:17 +01:00
49d89d0759
Move mocks out of client_test.cc into testing/ folder. ( #854 )
2018-01-26 17:56:36 +01:00
dab69e0ca0
Struct SensorId ( #839 )
...
* WIP, started unordered_set<SensorId>
* struct SensorId. Works for cartographer without grpc.
* correct test
* SensorId in cartographer_grpc/
* clean up
* try to fix for trusty
* SensorId::operator==
* Ran clang-format.
2018-01-26 15:07:49 +01:00
1d2613c8e2
Add gRPC version of RunFinalOptimization(). ( #852 )
2018-01-25 17:31:03 +01:00
edb18231b6
Add ProtoStreamWriterInterface and implement forwarding writer. ( #849 )
2018-01-25 15:27:50 +01:00
65889f14a0
Bazel: use cartographer_grpc_server as in CMakeLists.txt ( #848 )
2018-01-25 13:28:31 +01:00
37ddf9e550
Add gRPC version of LoadMap(). ( #842 )
...
Later they will be used in map_builder_stub and load_map_handler.
2018-01-25 09:27:42 +01:00
a103e8f93a
Implement 'num_trajectory_builders' in map_builder_stub. ( #845 )
...
A huuuuuge PR.
2018-01-25 08:59:52 +01:00
52527ec6d4
Add licenses() declarations to BUILD files ( #843 )
...
These were in some, but not all, of the existing BUILD files. They make
it easier to vendor cartographer, as Bazel complains if a BUILD file in
//third_party is missing a licenses() declaration.
2018-01-24 13:16:25 +01:00
8e2a017612
Build cartographer_grpc with Bazel ( #841 )
...
This doesn't work when cartographer is an external workspace, due to a
limitation in cc_grpc_library. However, the //cartographer target will
still work it is external, and cartographer_grpc users can vendor the
repository.
2018-01-23 21:29:41 +01:00
43008d391d
Introduce a ProtoStreamReaderInterface. ( #837 )
...
* Introduce a ProtoStreamReaderInterface.
* Remove the comments from interface def.
2018-01-23 09:09:37 +01:00
9e30c1e0cd
Send LandmarkData via gRPC. ( #831 )
...
* Send LandmarkData via gRPC.
[RFC PR](https://github.com/googlecartographer/rfcs/pull/18 )
* Fix the nits.
2018-01-19 17:24:30 +01:00
746c9c83c8
Propagate LandmarksData to the PoseGraph. ( #830 )
...
Propagate LandmarkData to the PoseGraph.
2018-01-19 09:41:24 +01:00
de5937856d
Collate_by_trajectory option ( #828 )
...
Adds an option to create a MapBuilder using TrajectoryCollator
(instead of Collator).
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md )
2018-01-17 21:15:15 +01:00
35a9c3d63b
Implement sensor data uploading in LocalTrajectoryUploader. ( #822 )
2018-01-17 12:01:29 +01:00
712c7e3e39
Fix namespace of serialization functions. ( #825 )
2018-01-16 12:20:15 +01:00
c053fc7a2f
Implement sensor data forwarding. ( #818 )
2018-01-15 15:31:33 +01:00
f49e798ef9
Start DataUploader implementation, implement Add/FinishTrajectory ( #811 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-12 23:16:29 +01:00
1de696d45f
Introduce PoseGraphInterface::ToProto() ( #813 )
2018-01-12 13:55:14 +01:00
fee77c8a99
Add LocalSlamResultData retrieval and submap management ( #810 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-12 13:00:25 +01:00
e1a182d1fa
Implement LocalSlamResult data adding to PoseGraph. ( #804 )
2018-01-11 10:19:37 +01:00
d313af8674
Add InsertionResult to LocalSlamResult. ( #801 )
2018-01-10 17:26:04 +01:00
8165da873f
Add GetConstraints() to gRPC service. ( #798 )
2018-01-09 14:25:28 +01:00
bd2fbbf1a1
Implement GetLocalToGlobalTransform() in gRPC service ( #797 )
2018-01-08 16:28:41 +01:00
d240261701
Add GetAllSubmapPoses to gRPC interface. ( #791 )
2018-01-08 15:34:00 +01:00
78d05bf745
Add GetTrajectoryNodePoses() to gRPC service ( #796 )
2018-01-08 14:19:39 +01:00
d57c2441b8
Implement gRPC submap query. ( #794 )
2018-01-08 13:52:14 +01:00
920a34a938
Fix RpcEvent lifetime ( #793 )
...
Fixes #788 .
Uses two different types of events whether the event goes through the CompletionQueue or not.
CompletionQueueRpcEvent is again a member of Rpc.
2018-01-08 12:42:19 +01:00
196b4b891c
Add PoseGraphInterface::GetTrajectoryNodePoses() ( #795 )
2018-01-08 09:13:51 +01:00
1a837ef3ab
Introduce PoseGraphInterface::GetAllSubmapPoses() ( #790 )
2018-01-05 14:19:08 +01:00
923d643b86
Fix obvious asan warnings. ( #787 )
...
Adds a few missing overrides and removes a std::move that
prevented copy elision.
2018-01-05 10:18:08 +01:00
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
c881fe90cf
Stub receives LocalSlamResults. ( #778 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2017-12-20 12:42:27 +01:00
f5e99089a9
Notify LocalSlamResults subscription ends. ( #777 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2017-12-20 11:42:01 +01:00
e0faf7094e
Change MapBuilderServer::LocalSlamSubscriptionCallback ( #776 )
...
PAIR=gaschler
2017-12-20 09:46:54 +01:00
383b988548
TrajectoryBuilderStub sends WritesDone ( #774 )
...
This is required to close the connection, otherwise the server
cannot shutdown.
2017-12-19 15:49:56 +01:00
02734c296d
Implement ReceiveLocalSlamResultsHandler. ( #772 )
2017-12-19 15:11:29 +01:00
Christoph Schütte
gaschler
Rodrigo Queiro
Alexander Belyaev