/* * 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. */ #include "cartographer/metrics/register.h" #include "cartographer_grpc/map_builder_server.h" #include "cartographer_grpc/map_builder_server_options.h" #include "gflags/gflags.h" #include "glog/logging.h" #if USE_PROMETHEUS #include "cartographer_grpc/metrics/prometheus/family_factory.h" #include "prometheus/exposer.h" #endif DEFINE_string(configuration_directory, "", "First directory in which configuration files are searched, " "second is always the Cartographer installation to allow " "including files from there."); DEFINE_string(configuration_basename, "", "Basename, i.e. not containing any directory prefix, of the " "configuration file."); namespace cartographer_grpc { void Run(const std::string& configuration_directory, const std::string& configuration_basename) { #if USE_PROMETHEUS metrics::prometheus::FamilyFactory registry; cartographer::metrics::RegisterAllMetrics(®istry); ::prometheus::Exposer exposer("0.0.0.0:9100"); exposer.RegisterCollectable(registry.GetCollectable()); LOG(INFO) << "Exposing metrics at http://localhost:9100/metrics"; #endif proto::MapBuilderServerOptions map_builder_server_options = LoadMapBuilderServerOptions(configuration_directory, configuration_basename); // TODO(gaschler): Remove this override when parameter is imported from lua // config. map_builder_server_options.mutable_map_builder_options() ->set_collate_by_trajectory(true); auto map_builder = cartographer::common::make_unique( map_builder_server_options.map_builder_options()); MapBuilderServer map_builder_server(map_builder_server_options, std::move(map_builder)); map_builder_server.Start(); map_builder_server.WaitForShutdown(); } } // namespace cartographer_grpc int main(int argc, char** argv) { google::InitGoogleLogging(argv[0]); FLAGS_logtostderr = true; google::SetUsageMessage( "\n\n" "This program offers a MapBuilder service via a gRPC interface.\n"); google::ParseCommandLineFlags(&argc, &argv, true); if (FLAGS_configuration_directory.empty() || FLAGS_configuration_basename.empty()) { google::ShowUsageWithFlagsRestrict(argv[0], "cartographer_grpc_server"); return EXIT_FAILURE; } cartographer_grpc::Run(FLAGS_configuration_directory, FLAGS_configuration_basename); }