82 lines
3.0 KiB
C++
82 lines
3.0 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/cloud/internal/handlers/receive_global_slam_optimizations_handler.h"
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#include "absl/memory/memory.h"
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#include "async_grpc/rpc_handler.h"
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#include "cartographer/cloud/internal/map_builder_context_interface.h"
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#include "cartographer/cloud/proto/map_builder_service.pb.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace cloud {
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namespace handlers {
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namespace {
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std::unique_ptr<proto::ReceiveGlobalSlamOptimizationsResponse> GenerateResponse(
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const std::map<int, mapping::SubmapId> &last_optimized_submap_ids,
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const std::map<int, mapping::NodeId> &last_optimized_node_ids) {
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auto response =
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absl::make_unique<proto::ReceiveGlobalSlamOptimizationsResponse>();
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for (const auto &entry : last_optimized_submap_ids) {
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entry.second.ToProto(
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&(*response->mutable_last_optimized_submap_ids())[entry.first]);
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}
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for (const auto &entry : last_optimized_node_ids) {
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entry.second.ToProto(
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&(*response->mutable_last_optimized_node_ids())[entry.first]);
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}
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return response;
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}
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} // namespace
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void ReceiveGlobalSlamOptimizationsHandler::OnRequest(
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const google::protobuf::Empty &request) {
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auto writer = GetWriter();
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const int subscription_index =
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GetUnsynchronizedContext<MapBuilderContextInterface>()
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->SubscribeGlobalSlamOptimizations(
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[writer](const std::map<int, mapping::SubmapId>
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&last_optimized_submap_ids,
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const std::map<int, mapping::NodeId>
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&last_optimized_node_ids) {
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if (!writer.Write(GenerateResponse(last_optimized_submap_ids,
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last_optimized_node_ids))) {
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// Client closed connection.
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LOG(INFO) << "Client closed connection.";
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return false;
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}
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return true;
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});
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LOG(INFO) << "Added subscription: " << subscription_index;
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subscription_index_ = subscription_index;
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}
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void ReceiveGlobalSlamOptimizationsHandler::OnFinish() {
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if (subscription_index_.has_value()) {
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LOG(INFO) << "Removing subscription " << subscription_index_.value();
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GetUnsynchronizedContext<MapBuilderContextInterface>()
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->UnsubscribeGlobalSlamOptimizations(subscription_index_.value());
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}
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}
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} // namespace handlers
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} // namespace cloud
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} // namespace cartographer
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