/* * Copyright 2018 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_LOCAL_TRAJECTORY_UPLOADER_H #define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H #include <memory> #include <set> #include <string> #include "cartographer/mapping/proto/trajectory_builder_options.pb.h" #include "cartographer/mapping/trajectory_builder_interface.h" namespace cartographer { namespace cloud { class LocalTrajectoryUploaderInterface { public: using SensorId = mapping::TrajectoryBuilderInterface::SensorId; 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; virtual void AddTrajectory( int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids, const mapping::proto::TrajectoryBuilderOptions& trajectory_options) = 0; virtual void FinishTrajectory(int local_trajectory_id) = 0; virtual SensorId GetLocalSlamResultSensorId( int local_trajectory_id) const = 0; }; // Returns LocalTrajectoryUploader with the actual implementation. std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader( const std::string& uplink_server_address); } // namespace cloud } // namespace cartographer #endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H