/*
 * 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.
 */

#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h"

#include "cartographer/common/make_unique.h"
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/pose_graph.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"

namespace cartographer_grpc {
namespace handlers {

void RunFinalOptimizationHandler::OnRequest(
    const google::protobuf::Empty& request) {
  GetContext<MapBuilderContextInterface>()
      ->map_builder()
      .pose_graph()
      ->RunFinalOptimization();
  Send(cartographer::common::make_unique<google::protobuf::Empty>());
}

}  // namespace handlers
}  // namespace cartographer_grpc