cartographer/cartographer_grpc/handlers/add_trajectory_handler.h

75 lines
3.0 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_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
namespace cartographer_grpc {
namespace handlers {
class AddTrajectoryHandler
: public framework::RpcHandler<proto::AddTrajectoryRequest,
proto::AddTrajectoryResponse> {
public:
void OnRequest(const proto::AddTrajectoryRequest& request) override {
auto local_slam_result_callback =
GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
->GetLocalSlamResultCallbackForSubscriptions();
std::set<cartographer::mapping::TrajectoryBuilderInterface::SensorId>
expected_sensor_ids;
for (const auto& sensor_id : request.expected_sensor_ids()) {
expected_sensor_ids.insert(sensor::FromProto(sensor_id));
}
const int trajectory_id =
GetContext<MapBuilderServer::MapBuilderContext>()
->map_builder()
.AddTrajectoryBuilder(expected_sensor_ids,
request.trajectory_builder_options(),
local_slam_result_callback);
if (GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
->local_trajectory_uploader()) {
auto trajectory_builder_options = request.trajectory_builder_options();
// Clear the trajectory builder options to convey to the cloud
// Cartographer instance that does not need to instantiate a
// 'LocalTrajectoryBuilder'.
trajectory_builder_options.clear_trajectory_builder_2d_options();
trajectory_builder_options.clear_trajectory_builder_3d_options();
GetContext<MapBuilderServer::MapBuilderContext>()
->local_trajectory_uploader()
->AddTrajectory(trajectory_id, expected_sensor_ids,
trajectory_builder_options);
}
auto response =
cartographer::common::make_unique<proto::AddTrajectoryResponse>();
response->set_trajectory_id(trajectory_id);
Send(std::move(response));
}
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_TRAJECTORY_HANDLER_H