cartographer/cartographer_grpc/mapping/trajectory_builder_stub.h

71 lines
2.7 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_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace mapping {
class TrajectoryBuilderStub
: public cartographer::mapping::TrajectoryBuilderInterface {
public:
TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
const int trajectory_id);
~TrajectoryBuilderStub() override;
TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData&
timed_point_cloud_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) override;
void AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData&
fixed_frame_pose) override;
private:
template <typename RequestType>
struct SensorClientWriter {
grpc::ClientContext client_context;
std::unique_ptr<grpc::ClientWriter<RequestType>> client_writer;
google::protobuf::Empty response;
};
proto::SensorMetadata CreateSensorMetadata(const std::string& sensor_id);
std::shared_ptr<grpc::Channel> client_channel_;
const int trajectory_id_;
std::unique_ptr<proto::MapBuilderService::Stub> stub_;
SensorClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
SensorClientWriter<proto::AddImuDataRequest> imu_writer_;
SensorClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
SensorClientWriter<proto::AddFixedFramePoseDataRequest> fixed_frame_writer_;
};
} // namespace mapping
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_