56 lines
1.8 KiB
C++
56 lines
1.8 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/sensor/collator.h"
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namespace cartographer {
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namespace sensor {
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void Collator::AddTrajectory(
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const int trajectory_id,
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const std::unordered_set<std::string>& expected_sensor_ids,
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const Callback& callback) {
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for (const auto& sensor_id : expected_sensor_ids) {
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const auto queue_key = QueueKey{trajectory_id, sensor_id};
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queue_.AddQueue(queue_key,
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[callback, sensor_id](std::unique_ptr<Data> data) {
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callback(sensor_id, std::move(data));
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});
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queue_keys_[trajectory_id].push_back(queue_key);
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}
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}
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void Collator::FinishTrajectory(const int trajectory_id) {
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for (const auto& queue_key : queue_keys_[trajectory_id]) {
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queue_.MarkQueueAsFinished(queue_key);
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}
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}
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void Collator::AddSensorData(const int trajectory_id,
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std::unique_ptr<Data> data) {
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QueueKey queue_key{trajectory_id, data->GetSensorId()};
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queue_.Add(std::move(queue_key), std::move(data));
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}
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void Collator::Flush() { queue_.Flush(); }
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int Collator::GetBlockingTrajectoryId() const {
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return queue_.GetBlocker().trajectory_id;
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}
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} // namespace sensor
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} // namespace cartographer
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