72 lines
2.8 KiB
C++
72 lines
2.8 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.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
|
|
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
|
|
|
|
#include "cartographer/common/make_unique.h"
|
|
#include "cartographer_grpc/framework/rpc_handler.h"
|
|
#include "cartographer_grpc/map_builder_server.h"
|
|
#include "cartographer_grpc/proto/map_builder_service.pb.h"
|
|
|
|
namespace cartographer_grpc {
|
|
namespace handlers {
|
|
|
|
class AddTrajectoryHandler
|
|
: public framework::RpcHandler<proto::AddTrajectoryRequest,
|
|
proto::AddTrajectoryResponse> {
|
|
public:
|
|
void OnRequest(const proto::AddTrajectoryRequest& request) override {
|
|
auto local_slam_result_callback =
|
|
GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
|
|
->GetLocalSlamResultCallbackForSubscriptions();
|
|
std::unordered_set<std::string> expected_sensor_ids(
|
|
request.expected_sensor_ids().begin(),
|
|
request.expected_sensor_ids().end());
|
|
const int trajectory_id =
|
|
GetContext<MapBuilderServer::MapBuilderContext>()
|
|
->map_builder()
|
|
.AddTrajectoryBuilder(expected_sensor_ids,
|
|
request.trajectory_builder_options(),
|
|
local_slam_result_callback);
|
|
if (GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
|
|
->local_trajectory_uploader()) {
|
|
auto trajectory_builder_options = request.trajectory_builder_options();
|
|
|
|
// Clear the trajectory builder options to convey to the cloud
|
|
// Cartographer instance that does not need to instantiate a
|
|
// 'LocalTrajectoryBuilder'.
|
|
trajectory_builder_options.clear_trajectory_builder_2d_options();
|
|
trajectory_builder_options.clear_trajectory_builder_3d_options();
|
|
|
|
GetContext<MapBuilderServer::MapBuilderContext>()
|
|
->local_trajectory_uploader()
|
|
->AddTrajectory(trajectory_id, expected_sensor_ids,
|
|
trajectory_builder_options);
|
|
}
|
|
|
|
auto response =
|
|
cartographer::common::make_unique<proto::AddTrajectoryResponse>();
|
|
response->set_trajectory_id(trajectory_id);
|
|
Send(std::move(response));
|
|
}
|
|
};
|
|
|
|
} // namespace handlers
|
|
} // namespace cartographer_grpc
|
|
|
|
#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
|