cartographer/cartographer_grpc/map_builder_server.h

92 lines
3.1 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.
*/
#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
#include "cartographer/common/blocking_queue.h"
#include "cartographer/mapping/map_builder.h"
#include "cartographer/sensor/data.h"
#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/server.h"
#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
namespace cartographer_grpc {
class MapBuilderServer {
public:
struct SensorData {
int trajectory_id;
std::unique_ptr<cartographer::sensor::Data> sensor_data;
};
class MapBuilderContext : public framework::ExecutionContext {
public:
MapBuilderContext(
cartographer::mapping::MapBuilder* map_builder,
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>*
sensor_data_queue);
cartographer::mapping::MapBuilder& map_builder();
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>&
sensor_data_queue();
void AddSensorDataToTrajectory(const SensorData& sensor_data);
template <typename SensorDataType>
void EnqueueSensorData(int trajectory_id, const std::string& sensor_id,
const SensorDataType& sensor_data) {
sensor_data_queue_->Push(
cartographer::common::make_unique<MapBuilderServer::SensorData>(
MapBuilderServer::SensorData{
trajectory_id, cartographer::sensor::MakeDispatchable(
sensor_id, sensor_data)}));
}
private:
cartographer::mapping::MapBuilder* map_builder_;
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>*
sensor_data_queue_;
};
MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options);
// Starts the gRPC server and the SLAM thread.
void Start();
// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
// either shutting down or some other thread must call 'Shutdown()' for this
// function to ever return.
void WaitForShutdown();
// Shuts down the gRPC server and the SLAM thread.
void Shutdown();
private:
void ProcessSensorDataQueue();
void StartSlamThread();
bool shutting_down_ = false;
std::unique_ptr<std::thread> slam_thread_;
std::unique_ptr<framework::Server> grpc_server_;
cartographer::mapping::MapBuilder map_builder_;
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>
sensor_data_queue_;
};
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H