cartographer/cartographer_grpc/map_builder_server_options.cc

52 lines
2.1 KiB
C++

/*
* Copyright 2017 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/map_builder_server_options.h"
#include "cartographer/common/configuration_file_resolver.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/mapping/map_builder.h"
namespace cartographer_grpc {
proto::MapBuilderServerOptions CreateMapBuilderServerOptions(
::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary) {
proto::MapBuilderServerOptions map_builder_server_options;
map_builder_server_options.set_server_address(
lua_parameter_dictionary->GetString("server_address"));
map_builder_server_options.set_num_grpc_threads(
lua_parameter_dictionary->GetInt("num_grpc_threads"));
*map_builder_server_options.mutable_map_builder_options() =
cartographer::mapping::CreateMapBuilderOptions(
lua_parameter_dictionary->GetDictionary("map_builder").get());
return map_builder_server_options;
}
proto::MapBuilderServerOptions LoadMapBuilderServerOptions(
const std::string& configuration_directory,
const std::string& configuration_basename) {
auto file_resolver = cartographer::common::make_unique<
cartographer::common::ConfigurationFileResolver>(
std::vector<std::string>{configuration_directory});
const std::string code =
file_resolver->GetFileContentOrDie(configuration_basename);
cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
code, std::move(file_resolver));
return CreateMapBuilderServerOptions(&lua_parameter_dictionary);
}
} // namespace cartographer_grpc