359 lines
15 KiB
C++
359 lines
15 KiB
C++
/*
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* Copyright 2017 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_server.h"
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#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
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#include "cartographer_grpc/handlers/add_imu_data_handler.h"
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#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
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#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
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#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
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#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
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#include "cartographer_grpc/handlers/add_trajectory_handler.h"
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#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
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#include "cartographer_grpc/handlers/get_all_submap_poses.h"
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#include "cartographer_grpc/handlers/get_constraints_handler.h"
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#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_submap_handler.h"
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace {
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const cartographer::common::Duration kPopTimeout =
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cartographer::common::FromMilliseconds(100);
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} // namespace
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MapBuilderServer::MapBuilderContext::MapBuilderContext(
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MapBuilderServer* map_builder_server)
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: map_builder_server_(map_builder_server) {}
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cartographer::mapping::MapBuilderInterface&
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MapBuilderServer::MapBuilderContext::map_builder() {
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return *map_builder_server_->map_builder_;
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}
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cartographer::common::BlockingQueue<std::unique_ptr<MapBuilderServer::Data>>&
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MapBuilderServer::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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MapBuilderServer::MapBuilderContext::
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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 MapBuilderServer::MapBuilderContext::AddSensorDataToTrajectory(
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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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MapBuilderServer::SubscriptionId
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MapBuilderServer::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 MapBuilderServer::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 MapBuilderServer::MapBuilderContext::NotifyFinishTrajectory(
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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_2d::Submap>
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MapBuilderServer::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_2d::Submap> 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_2d::Submap>(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_2d::Submap>(
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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_3d::Submap>
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MapBuilderServer::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_3d::Submap> 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_3d::Submap>(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_3d::Submap>(
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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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MapBuilderServer::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(), 0);
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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_2d::Submap>>
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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_3d::Submap>>
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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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MapBuilderServer::MapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options,
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std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder)
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: map_builder_(std::move(map_builder)) {
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framework::Server::Builder server_builder;
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server_builder.SetServerAddress(map_builder_server_options.server_address());
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server_builder.SetNumGrpcThreads(
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map_builder_server_options.num_grpc_threads());
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server_builder.SetNumEventThreads(
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map_builder_server_options.num_event_threads());
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if (!map_builder_server_options.uplink_server_address().empty()) {
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local_trajectory_uploader_ =
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cartographer::common::make_unique<LocalTrajectoryUploader>(
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map_builder_server_options.uplink_server_address());
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}
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server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
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proto::MapBuilderService>("AddTrajectory");
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server_builder.RegisterHandler<handlers::AddOdometryDataHandler,
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proto::MapBuilderService>("AddOdometryData");
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server_builder
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.RegisterHandler<handlers::AddImuDataHandler, proto::MapBuilderService>(
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"AddImuData");
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server_builder.RegisterHandler<handlers::AddRangefinderDataHandler,
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proto::MapBuilderService>(
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"AddRangefinderData");
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server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler,
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proto::MapBuilderService>(
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"AddFixedFramePoseData");
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server_builder.RegisterHandler<handlers::AddLandmarkDataHandler,
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proto::MapBuilderService>("AddLandmarkData");
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server_builder.RegisterHandler<handlers::AddLocalSlamResultDataHandler,
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proto::MapBuilderService>(
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"AddLocalSlamResultData");
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server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
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proto::MapBuilderService>("FinishTrajectory");
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server_builder.RegisterHandler<handlers::ReceiveLocalSlamResultsHandler,
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proto::MapBuilderService>(
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"ReceiveLocalSlamResults");
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server_builder
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.RegisterHandler<handlers::GetSubmapHandler, proto::MapBuilderService>(
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"GetSubmap");
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server_builder.RegisterHandler<handlers::GetTrajectoryNodePosesHandler,
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proto::MapBuilderService>(
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"GetTrajectoryNodePoses");
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server_builder.RegisterHandler<handlers::GetAllSubmapPosesHandler,
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proto::MapBuilderService>("GetAllSubmapPoses");
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server_builder.RegisterHandler<handlers::GetLocalToGlobalTransformHandler,
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proto::MapBuilderService>(
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"GetLocalToGlobalTransform");
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server_builder.RegisterHandler<handlers::GetConstraintsHandler,
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proto::MapBuilderService>("GetConstraints");
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grpc_server_ = server_builder.Build();
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grpc_server_->SetExecutionContext(
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cartographer::common::make_unique<MapBuilderContext>(this));
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}
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void MapBuilderServer::Start() {
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shutting_down_ = false;
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if (local_trajectory_uploader_) {
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local_trajectory_uploader_->Start();
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}
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StartSlamThread();
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grpc_server_->Start();
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}
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void MapBuilderServer::WaitForShutdown() {
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grpc_server_->WaitForShutdown();
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if (slam_thread_) {
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slam_thread_->join();
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}
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if (local_trajectory_uploader_) {
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local_trajectory_uploader_->Shutdown();
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}
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}
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void MapBuilderServer::Shutdown() {
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shutting_down_ = true;
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grpc_server_->Shutdown();
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if (slam_thread_) {
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slam_thread_->join();
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}
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}
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void MapBuilderServer::ProcessSensorDataQueue() {
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LOG(INFO) << "Starting SLAM thread.";
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while (!shutting_down_) {
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std::unique_ptr<Data> sensor_data =
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incoming_data_queue_.PopWithTimeout(kPopTimeout);
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if (sensor_data) {
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grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
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*sensor_data);
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}
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}
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}
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void MapBuilderServer::StartSlamThread() {
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CHECK(!slam_thread_);
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// Start the SLAM processing thread.
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slam_thread_ = cartographer::common::make_unique<std::thread>(
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[this]() { this->ProcessSensorDataQueue(); });
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}
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void MapBuilderServer::OnLocalSlamResult(
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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::TrajectoryBuilderInterface::
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InsertionResult>
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insertion_result) {
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auto shared_range_data =
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std::make_shared<cartographer::sensor::RangeData>(std::move(range_data));
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
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auto copy_of_insertion_result =
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insertion_result
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? cartographer::common::make_unique<
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const cartographer::mapping::TrajectoryBuilderInterface::
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InsertionResult>(*insertion_result)
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: nullptr;
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LocalSlamSubscriptionCallback callback = entry.second;
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callback(cartographer::common::make_unique<LocalSlamResult>(
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LocalSlamResult{trajectory_id, time, local_pose, shared_range_data,
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std::move(copy_of_insertion_result)}));
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}
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}
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MapBuilderServer::SubscriptionId MapBuilderServer::SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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local_slam_subscriptions_[trajectory_id].emplace(current_subscription_index_,
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callback);
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return SubscriptionId{trajectory_id, current_subscription_index_++};
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}
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void MapBuilderServer::UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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CHECK_EQ(local_slam_subscriptions_[subscription_id.trajectory_id].erase(
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subscription_id.subscription_index),
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1u);
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}
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void MapBuilderServer::NotifyFinishTrajectory(int trajectory_id) {
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cartographer::common::MutexLocker locker(&local_slam_subscriptions_lock_);
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for (auto& entry : local_slam_subscriptions_[trajectory_id]) {
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LocalSlamSubscriptionCallback callback = entry.second;
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// 'nullptr' signals subscribers that the trajectory finished.
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callback(nullptr);
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}
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}
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void MapBuilderServer::WaitUntilIdle() {
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incoming_data_queue_.WaitUntilEmpty();
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map_builder_->pose_graph()->RunFinalOptimization();
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}
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} // namespace cartographer_grpc
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