cartographer/cartographer_grpc/handlers/load_map_handler.h

61 lines
2.0 KiB
C++

/*
* 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_LOAD_MAP_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_LOAD_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_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
namespace cartographer_grpc {
namespace handlers {
class LoadMapHandler
: public framework::RpcHandler<framework::Stream<proto::LoadMapRequest>,
google::protobuf::Empty> {
public:
void OnRequest(const proto::LoadMapRequest& request) override {
switch (request.map_chunk_case()) {
case proto::LoadMapRequest::kPoseGraph:
reader_.AddProto(request.pose_graph());
break;
case proto::LoadMapRequest::kSerializedData:
reader_.AddProto(request.serialized_data());
break;
default:
LOG(FATAL) << "Unhandled proto::LoadMapRequest case.";
}
}
void OnReadsDone() override {
GetContext<MapBuilderServer::MapBuilderContext>()->map_builder().LoadMap(
&reader_);
Send(cartographer::common::make_unique<google::protobuf::Empty>());
}
private:
cartographer::io::InMemoryProtoStreamReader reader_;
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_LOAD_MAP_HANDLER_H