cartographer/cartographer_grpc/handlers/add_imu_data_handler.cc

63 lines
2.5 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.
*/
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/sensor/dispatchable.h"
#include "cartographer/sensor/imu_data.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_context_interface.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "google/protobuf/empty.pb.h"
namespace cartographer_grpc {
namespace handlers {
void AddImuDataHandler::OnRequest(const proto::AddImuDataRequest &request) {
// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
// thread-safe. Therefore it suffices to get an unsynchronized reference to
// the 'MapBuilderContext'.
GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
request.sensor_metadata().trajectory_id(),
cartographer::sensor::MakeDispatchable(
request.sensor_metadata().sensor_id(),
cartographer::sensor::FromProto(request.imu_data())));
// The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
// Therefore it suffices to get an unsynchronized reference to the
// 'MapBuilderContext'.
if (GetUnsynchronizedContext<MapBuilderContextInterface>()
->local_trajectory_uploader()) {
auto data_request =
cartographer::common::make_unique<proto::AddImuDataRequest>();
sensor::CreateAddImuDataRequest(request.sensor_metadata().sensor_id(),
request.sensor_metadata().trajectory_id(),
request.imu_data(), data_request.get());
GetUnsynchronizedContext<MapBuilderContextInterface>()
->local_trajectory_uploader()
->EnqueueDataRequest(std::move(data_request));
}
}
void AddImuDataHandler::OnReadsDone() {
Send(cartographer::common::make_unique<google::protobuf::Empty>());
}
} // namespace handlers
} // namespace cartographer_grpc