77 lines
2.5 KiB
C++
77 lines
2.5 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_trajectory_handler.h"
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#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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MapBuilderServer::MapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options)
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: map_builder_(map_builder_server_options.map_builder_options()) {
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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.SetNumberOfThreads(
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map_builder_server_options.num_grpc_threads());
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server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
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proto::MapBuilderService>("AddTrajectory");
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server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
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proto::MapBuilderService>("FinishTrajectory");
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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>(&map_builder_));
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}
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void MapBuilderServer::Start() {
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shutting_down_ = false;
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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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}
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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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while (!shutting_down_) {
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// TODO(cschuet): Implement this.
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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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} // namespace cartographer_grpc
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