71 lines
2.1 KiB
C++
71 lines
2.1 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.
|
|
*/
|
|
#include "cartographer_grpc/map_builder_server.h"
|
|
|
|
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
|
|
#include "glog/logging.h"
|
|
|
|
namespace cartographer_grpc {
|
|
|
|
MapBuilderServer::MapBuilderServer(
|
|
const proto::MapBuilderServerOptions& map_builder_server_options)
|
|
: map_builder_(map_builder_server_options.map_builder_options()) {
|
|
framework::Server::Builder server_builder;
|
|
server_builder.SetServerAddress(map_builder_server_options.server_address());
|
|
server_builder.SetNumberOfThreads(
|
|
map_builder_server_options.num_grpc_threads());
|
|
grpc_server_ = server_builder.Build();
|
|
grpc_server_->SetExecutionContext(
|
|
cartographer::common::make_unique<MapBuilderContext>(&map_builder_));
|
|
}
|
|
|
|
void MapBuilderServer::Start() {
|
|
shutting_down_ = false;
|
|
StartSlamThread();
|
|
grpc_server_->Start();
|
|
}
|
|
|
|
void MapBuilderServer::WaitForShutdown() {
|
|
grpc_server_->WaitForShutdown();
|
|
if (slam_thread_) {
|
|
slam_thread_->join();
|
|
}
|
|
}
|
|
|
|
void MapBuilderServer::Shutdown() {
|
|
shutting_down_ = true;
|
|
grpc_server_->Shutdown();
|
|
if (slam_thread_) {
|
|
slam_thread_->join();
|
|
}
|
|
}
|
|
|
|
void MapBuilderServer::ProcessSensorDataQueue() {
|
|
while (!shutting_down_) {
|
|
// TODO(cschuet): Implement this.
|
|
}
|
|
}
|
|
|
|
void MapBuilderServer::StartSlamThread() {
|
|
CHECK(!slam_thread_);
|
|
|
|
// Start the SLAM processing thread.
|
|
slam_thread_ = cartographer::common::make_unique<std::thread>(
|
|
[this]() { this->ProcessSensorDataQueue(); });
|
|
}
|
|
|
|
} // namespace cartographer_grpc
|