218 lines
9.0 KiB
C++
218 lines
9.0 KiB
C++
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
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#include "cartographer_grpc/handlers/add_imu_data_handler.h"
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#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
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#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
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#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
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#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
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#include "cartographer_grpc/handlers/add_trajectory_handler.h"
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#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
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#include "cartographer_grpc/handlers/get_all_submap_poses.h"
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#include "cartographer_grpc/handlers/get_constraints_handler.h"
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#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
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#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_submap_handler.h"
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/load_state_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
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#include "cartographer_grpc/handlers/write_state_handler.h"
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#include "cartographer_grpc/sensor/serialization.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace {
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const cartographer::common::Duration kPopTimeout =
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cartographer::common::FromMilliseconds(100);
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} // namespace
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MapBuilderServer::MapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options,
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std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder)
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: map_builder_(std::move(map_builder)) {
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framework::Server::Builder server_builder;
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server_builder.SetServerAddress(map_builder_server_options.server_address());
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server_builder.SetNumGrpcThreads(
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map_builder_server_options.num_grpc_threads());
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server_builder.SetNumEventThreads(
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map_builder_server_options.num_event_threads());
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if (!map_builder_server_options.uplink_server_address().empty()) {
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local_trajectory_uploader_ =
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cartographer::common::make_unique<LocalTrajectoryUploader>(
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map_builder_server_options.uplink_server_address());
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}
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server_builder.RegisterHandler<handlers::AddTrajectoryHandler>();
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server_builder.RegisterHandler<handlers::AddOdometryDataHandler>();
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server_builder.RegisterHandler<handlers::AddImuDataHandler>();
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server_builder.RegisterHandler<handlers::AddRangefinderDataHandler>();
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server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler>();
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server_builder.RegisterHandler<handlers::AddLandmarkDataHandler>();
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server_builder.RegisterHandler<handlers::AddLocalSlamResultDataHandler>();
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server_builder.RegisterHandler<handlers::FinishTrajectoryHandler>();
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server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler>();
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server_builder.RegisterHandler<handlers::GetSubmapHandler>();
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server_builder.RegisterHandler<handlers::GetTrajectoryNodePosesHandler>();
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server_builder.RegisterHandler<handlers::GetLandmarkPosesHandler>();
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server_builder.RegisterHandler<handlers::GetAllSubmapPosesHandler>();
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server_builder.RegisterHandler<handlers::GetLocalToGlobalTransformHandler>();
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server_builder.RegisterHandler<handlers::GetConstraintsHandler>();
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server_builder.RegisterHandler<handlers::LoadStateHandler>();
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server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler>();
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server_builder.RegisterHandler<handlers::WriteStateHandler>();
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grpc_server_ = server_builder.Build();
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grpc_server_->SetExecutionContext(
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cartographer::common::make_unique<MapBuilderContext>(this));
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}
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void MapBuilderServer::Start() {
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shutting_down_ = false;
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if (local_trajectory_uploader_) {
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local_trajectory_uploader_->Start();
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}
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StartSlamThread();
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grpc_server_->Start();
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}
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void MapBuilderServer::WaitForShutdown() {
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grpc_server_->WaitForShutdown();
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if (slam_thread_) {
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slam_thread_->join();
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}
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if (local_trajectory_uploader_) {
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local_trajectory_uploader_->Shutdown();
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}
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}
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void MapBuilderServer::Shutdown() {
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shutting_down_ = true;
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grpc_server_->Shutdown();
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if (slam_thread_) {
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slam_thread_->join();
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}
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}
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void MapBuilderServer::ProcessSensorDataQueue() {
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LOG(INFO) << "Starting SLAM thread.";
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while (!shutting_down_) {
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std::unique_ptr<MapBuilderContextInterface::Data> sensor_data =
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incoming_data_queue_.PopWithTimeout(kPopTimeout);
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if (sensor_data) {
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grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
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*sensor_data);
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}
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}
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}
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void MapBuilderServer::StartSlamThread() {
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CHECK(!slam_thread_);
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// Start the SLAM processing thread.
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slam_thread_ = cartographer::common::make_unique<std::thread>(
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[this]() { this->ProcessSensorDataQueue(); });
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}
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void MapBuilderServer::OnLocalSlamResult(
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int trajectory_id, cartographer::common::Time time,
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cartographer::transform::Rigid3d local_pose,
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cartographer::sensor::RangeData range_data,
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std::unique_ptr<const cartographer::mapping::TrajectoryBuilderInterface::
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InsertionResult>
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insertion_result) {
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auto shared_range_data =
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std::make_shared<cartographer::sensor::RangeData>(std::move(range_data));
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// If there is an uplink server and a submap insertion happened, enqueue this
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// local SLAM result for uploading.
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if (insertion_result &&
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grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
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->local_trajectory_uploader()) {
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auto data_request = cartographer::common::make_unique<
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proto::AddLocalSlamResultDataRequest>();
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auto sensor_id = grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
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->local_trajectory_uploader()
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->GetLocalSlamResultSensorId(trajectory_id);
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sensor::CreateAddLocalSlamResultDataRequest(
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sensor_id.id, trajectory_id, time, starting_submap_index_,
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*insertion_result, data_request.get());
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// TODO(cschuet): Make this more robust.
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if (insertion_result->insertion_submaps.front()->finished()) {
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++starting_submap_index_;
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}
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grpc_server_->GetUnsynchronizedContext<MapBuilderContext>()
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->local_trajectory_uploader()
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->EnqueueDataRequest(std::move(data_request));
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}
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
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auto copy_of_insertion_result =
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insertion_result
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? cartographer::common::make_unique<
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const cartographer::mapping::TrajectoryBuilderInterface::
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InsertionResult>(*insertion_result)
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: nullptr;
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MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
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entry.second;
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callback(cartographer::common::make_unique<
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MapBuilderContextInterface::LocalSlamResult>(
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MapBuilderContextInterface::LocalSlamResult{
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trajectory_id, time, local_pose, shared_range_data,
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std::move(copy_of_insertion_result)}));
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}
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}
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MapBuilderContextInterface::SubscriptionId
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MapBuilderServer::SubscribeLocalSlamResults(
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int trajectory_id,
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MapBuilderContextInterface::LocalSlamSubscriptionCallback callback) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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local_slam_subscriptions_[trajectory_id].emplace(current_subscription_index_,
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callback);
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return MapBuilderContextInterface::SubscriptionId{
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trajectory_id, current_subscription_index_++};
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}
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void MapBuilderServer::UnsubscribeLocalSlamResults(
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const MapBuilderContextInterface::SubscriptionId& subscription_id) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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CHECK_EQ(local_slam_subscriptions_[subscription_id.trajectory_id].erase(
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subscription_id.subscription_index),
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1u);
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}
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void MapBuilderServer::NotifyFinishTrajectory(int trajectory_id) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
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MapBuilderContextInterface::LocalSlamSubscriptionCallback callback =
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entry.second;
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// 'nullptr' signals subscribers that the trajectory finished.
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callback(nullptr);
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}
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}
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void MapBuilderServer::WaitUntilIdle() {
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incoming_data_queue_.WaitUntilEmpty();
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map_builder_->pose_graph()->RunFinalOptimization();
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}
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} // namespace cartographer_grpc
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