cartographer/cartographer_grpc/local_trajectory_uploader.h

117 lines
4.5 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.
*/
#ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
#include <map>
#include <memory>
#include <set>
#include <string>
#include <thread>
#include "cartographer/common/blocking_queue.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
class LocalTrajectoryUploaderInterface {
public:
using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
virtual ~LocalTrajectoryUploaderInterface() = default;
// Enqueue an Add*DataRequest message to be uploaded.
virtual void EnqueueDataRequest(
std::unique_ptr<google::protobuf::Message> data_request) = 0;
virtual void AddTrajectory(
int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options) = 0;
virtual void FinishTrajectory(int local_trajectory_id) = 0;
virtual SensorId GetLocalSlamResultSensorId(
int local_trajectory_id) const = 0;
};
class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
public:
LocalTrajectoryUploader(const std::string& uplink_server_address);
~LocalTrajectoryUploader();
// Starts the upload thread.
void Start();
// Shuts down the upload thread. This method blocks until the shutdown is
// complete.
void Shutdown();
void AddTrajectory(
int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options) override;
void FinishTrajectory(int local_trajectory_id) override;
void EnqueueDataRequest(
std::unique_ptr<google::protobuf::Message> data_request) override;
SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const override {
return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
"local_slam_result_" + std::to_string(local_trajectory_id)};
}
private:
void ProcessSendQueue();
void TranslateTrajectoryId(proto::SensorMetadata* sensor_metadata);
void ProcessFixedFramePoseDataMessage(
proto::AddFixedFramePoseDataRequest* data_request);
void ProcessImuDataMessage(proto::AddImuDataRequest* data_request);
void ProcessLocalSlamResultDataMessage(
proto::AddLocalSlamResultDataRequest* data_request);
void ProcessOdometryDataMessage(proto::AddOdometryDataRequest* data_request);
void ProcessLandmarkDataMessage(proto::AddLandmarkDataRequest* data_request);
std::shared_ptr<grpc::Channel> client_channel_;
std::map<int, int> local_to_cloud_trajectory_id_map_;
cartographer::common::BlockingQueue<
std::unique_ptr<google::protobuf::Message>>
send_queue_;
bool shutting_down_ = false;
std::unique_ptr<std::thread> upload_thread_;
std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
add_fixed_frame_pose_client_;
std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
add_imu_client_;
std::unique_ptr<framework::Client<handlers::AddLocalSlamResultDataHandler>>
add_local_slam_result_client_;
std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
add_odometry_client_;
std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
add_landmark_client_;
};
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H