/*
 * 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_HANDLERS_WRITE_MAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H

#include "cartographer/common/make_unique.h"
#include "cartographer/io/in_memory_proto_stream.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"

namespace cartographer_grpc {
namespace handlers {

class WriteMapHandler
    : public framework::RpcHandler<google::protobuf::Empty,
                                   framework::Stream<proto::WriteMapResponse>> {
 public:
  std::string method_name() const override {
    return "/cartographer_grpc.proto.MapBuilderService/WriteMap";
  }
  void OnRequest(const google::protobuf::Empty& request) override {
    auto writer = GetWriter();
    cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
        [writer](const google::protobuf::Message* proto) {
          if (!proto) {
            writer.WritesDone();
            return true;
          }

          auto response =
              cartographer::common::make_unique<proto::WriteMapResponse>();
          if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
            response->mutable_pose_graph()->CopyFrom(*proto);
          } else if (proto->GetTypeName() ==
                     "cartographer.mapping.proto.SerializedData") {
            response->mutable_serialized_data()->CopyFrom(*proto);
          } else {
            LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
          }
          writer.Write(std::move(response));
          return true;
        });
    GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
        &proto_stream_writer);
  }
};

}  // namespace handlers
}  // namespace cartographer_grpc

#endif  // CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H