56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/*
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* Copyright 2016 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/io/counting_points_processor.h"
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#include "cartographer/common/make_unique.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace io {
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CountingPointsProcessor::CountingPointsProcessor(PointsProcessor* next)
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: num_points_(0), next_(next) {}
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std::unique_ptr<CountingPointsProcessor>
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CountingPointsProcessor::FromDictionary(
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common::LuaParameterDictionary* const dictionary,
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PointsProcessor* const next) {
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return common::make_unique<CountingPointsProcessor>(next);
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}
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void CountingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
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num_points_ += batch->points.size();
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next_->Process(std::move(batch));
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}
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PointsProcessor::FlushResult CountingPointsProcessor::Flush() {
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switch (next_->Flush()) {
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case FlushResult::kFinished:
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LOG(INFO) << "Processed " << num_points_ << " and finishing.";
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return FlushResult::kFinished;
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case FlushResult::kRestartStream:
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LOG(INFO) << "Processed " << num_points_ << " and restarting stream.";
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num_points_ = 0;
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return FlushResult::kRestartStream;
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}
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LOG(FATAL);
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}
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} // namespace io
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} // namespace cartographer
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