195 lines
7.7 KiB
C++
195 lines
7.7 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/map_builder_context.h"
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#include "cartographer_grpc/map_builder_server.h"
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namespace cartographer_grpc {
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MapBuilderContext::MapBuilderContext(MapBuilderServer* map_builder_server)
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: map_builder_server_(map_builder_server) {}
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cartographer::mapping::MapBuilderInterface& MapBuilderContext::map_builder() {
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return *map_builder_server_->map_builder_;
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}
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cartographer::common::BlockingQueue<
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std::unique_ptr<MapBuilderContextInterface::Data>>&
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MapBuilderContext::sensor_data_queue() {
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return map_builder_server_->incoming_data_queue_;
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}
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cartographer::mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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MapBuilderContext::GetLocalSlamResultCallbackForSubscriptions() {
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MapBuilderServer* map_builder_server = map_builder_server_;
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return [map_builder_server](
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int trajectory_id, cartographer::common::Time time,
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cartographer::transform::Rigid3d local_pose,
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cartographer::sensor::RangeData range_data,
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std::unique_ptr<const cartographer::mapping::
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TrajectoryBuilderInterface::InsertionResult>
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insertion_result) {
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map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
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std::move(range_data),
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std::move(insertion_result));
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};
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}
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void MapBuilderContext::AddSensorDataToTrajectory(const Data& sensor_data) {
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sensor_data.data->AddToTrajectoryBuilder(
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map_builder_server_->map_builder_->GetTrajectoryBuilder(
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sensor_data.trajectory_id));
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}
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MapBuilderContextInterface::SubscriptionId
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MapBuilderContext::SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) {
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return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
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callback);
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}
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void MapBuilderContext::UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) {
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map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
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}
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void MapBuilderContext::NotifyFinishTrajectory(int trajectory_id) {
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map_builder_server_->NotifyFinishTrajectory(trajectory_id);
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}
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std::shared_ptr<cartographer::mapping::Submap2D>
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MapBuilderContext::UpdateSubmap2D(
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const cartographer::mapping::proto::Submap& proto) {
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CHECK(proto.has_submap_2d());
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cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
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proto.submap_id().submap_index()};
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std::shared_ptr<cartographer::mapping::Submap2D> submap_2d_ptr;
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auto submap_it = unfinished_submaps_.find(submap_id);
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if (submap_it == unfinished_submaps_.end()) {
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// Seeing a submap for the first time it should never be finished.
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CHECK(!proto.submap_2d().finished());
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submap_2d_ptr =
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std::make_shared<cartographer::mapping::Submap2D>(proto.submap_2d());
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unfinished_submaps_.Insert(submap_id, submap_2d_ptr);
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} else {
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submap_2d_ptr = std::dynamic_pointer_cast<cartographer::mapping::Submap2D>(
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submap_it->data);
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CHECK(submap_2d_ptr);
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submap_2d_ptr->UpdateFromProto(proto);
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// If the submap was just finished by the recent update, remove it from the
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// list of unfinished submaps.
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if (submap_2d_ptr->finished()) {
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unfinished_submaps_.Trim(submap_id);
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} else {
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// If the submap is unfinished set the 'num_range_data' to 0 since we
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// haven't changed the HybridGrid.
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submap_2d_ptr->SetNumRangeData(0);
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}
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}
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return submap_2d_ptr;
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}
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std::shared_ptr<cartographer::mapping::Submap3D>
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MapBuilderContext::UpdateSubmap3D(
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const cartographer::mapping::proto::Submap& proto) {
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CHECK(proto.has_submap_3d());
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cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
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proto.submap_id().submap_index()};
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std::shared_ptr<cartographer::mapping::Submap3D> submap_3d_ptr;
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auto submap_it = unfinished_submaps_.find(submap_id);
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if (submap_it == unfinished_submaps_.end()) {
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// Seeing a submap for the first time it should never be finished.
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CHECK(!proto.submap_3d().finished());
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submap_3d_ptr =
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std::make_shared<cartographer::mapping::Submap3D>(proto.submap_3d());
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unfinished_submaps_.Insert(submap_id, submap_3d_ptr);
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submap_it = unfinished_submaps_.find(submap_id);
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} else {
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submap_3d_ptr = std::dynamic_pointer_cast<cartographer::mapping::Submap3D>(
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submap_it->data);
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CHECK(submap_3d_ptr);
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// Update submap with information in incoming request.
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submap_3d_ptr->UpdateFromProto(proto);
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// If the submap was just finished by the recent update, remove it from the
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// list of unfinished submaps.
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if (submap_3d_ptr->finished()) {
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unfinished_submaps_.Trim(submap_id);
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} else {
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// If the submap is unfinished set the 'num_range_data' to 0 since we
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// haven't changed the HybridGrid.
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submap_3d_ptr->SetNumRangeData(0);
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}
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}
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return submap_3d_ptr;
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}
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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MapBuilderContext::ProcessLocalSlamResultData(
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const std::string& sensor_id, cartographer::common::Time time,
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const cartographer::mapping::proto::LocalSlamResultData& proto) {
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CHECK_GE(proto.submaps().size(), 1);
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CHECK(proto.submaps(0).has_submap_2d() || proto.submaps(0).has_submap_3d());
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if (proto.submaps(0).has_submap_2d()) {
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std::vector<std::shared_ptr<const cartographer::mapping::Submap2D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(UpdateSubmap2D(submap_proto));
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}
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return cartographer::common::make_unique<
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cartographer::mapping::LocalSlamResult2D>(
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sensor_id, time,
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std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
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cartographer::mapping::FromProto(proto.node_data())),
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submaps);
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} else {
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std::vector<std::shared_ptr<const cartographer::mapping::Submap3D>> submaps;
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for (const auto& submap_proto : proto.submaps()) {
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submaps.push_back(UpdateSubmap3D(submap_proto));
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}
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return cartographer::common::make_unique<
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cartographer::mapping::LocalSlamResult3D>(
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sensor_id, time,
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std::make_shared<const cartographer::mapping::TrajectoryNode::Data>(
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cartographer::mapping::FromProto(proto.node_data())),
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std::move(submaps));
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}
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}
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LocalTrajectoryUploaderInterface*
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MapBuilderContext::local_trajectory_uploader() {
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return map_builder_server_->local_trajectory_uploader_.get();
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}
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void MapBuilderContext::EnqueueSensorData(
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int trajectory_id, std::unique_ptr<cartographer::sensor::Data> data) {
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map_builder_server_->incoming_data_queue_.Push(
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cartographer::common::make_unique<Data>(
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Data{trajectory_id, std::move(data)}));
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}
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void MapBuilderContext::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(
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cartographer::common::make_unique<Data>(
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Data{trajectory_id, std::move(local_slam_result_data)}));
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}
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} // namespace cartographer_grpc
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