50 lines
1.9 KiB
C++
50 lines
1.9 KiB
C++
/*
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* Copyright 2018 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/handlers/add_local_slam_result_data_handler.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping/local_slam_result_data.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/sensor/dispatchable.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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void AddLocalSlamResultDataHandler::OnRequest(
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const proto::AddLocalSlamResultDataRequest& request) {
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auto local_slam_result_data =
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GetContext<MapBuilderContextInterface>()->ProcessLocalSlamResultData(
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request.sensor_metadata().sensor_id(),
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cartographer::common::FromUniversal(
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request.local_slam_result_data().timestamp()),
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request.local_slam_result_data());
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GetContext<MapBuilderContextInterface>()->EnqueueLocalSlamResultData(
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request.sensor_metadata().trajectory_id(),
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request.sensor_metadata().sensor_id(), std::move(local_slam_result_data));
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}
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void AddLocalSlamResultDataHandler::OnReadsDone() {
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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} // namespace handlers
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} // namespace cartographer_grpc
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