108 lines
4.0 KiB
C++
108 lines
4.0 KiB
C++
/*
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* Copyright 2018 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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#ifndef CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include <thread>
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#include "cartographer/common/blocking_queue.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer_grpc/framework/client_writer.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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class LocalTrajectoryUploaderInterface {
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public:
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using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
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virtual ~LocalTrajectoryUploaderInterface() = default;
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// Enqueue an Add*DataRequest message to be uploaded.
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virtual void EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) = 0;
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virtual void AddTrajectory(
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int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options) = 0;
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virtual void FinishTrajectory(int local_trajectory_id) = 0;
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virtual SensorId GetLocalSlamResultSensorId(
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int local_trajectory_id) const = 0;
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};
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class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
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public:
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LocalTrajectoryUploader(const std::string& uplink_server_address);
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~LocalTrajectoryUploader();
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// Starts the upload thread.
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void Start();
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// Shuts down the upload thread. This method blocks until the shutdown is
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// complete.
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void Shutdown();
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void AddTrajectory(
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int local_trajectory_id, const std::set<SensorId>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options) override;
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void FinishTrajectory(int local_trajectory_id) override;
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void EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) override;
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SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const override {
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return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
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"local_slam_result_" + std::to_string(local_trajectory_id)};
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}
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private:
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void ProcessSendQueue();
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void TranslateTrajectoryId(proto::SensorMetadata* sensor_metadata);
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void ProcessFixedFramePoseDataMessage(
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proto::AddFixedFramePoseDataRequest* data_request);
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void ProcessImuDataMessage(proto::AddImuDataRequest* data_request);
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void ProcessLocalSlamResultDataMessage(
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proto::AddLocalSlamResultDataRequest* data_request);
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void ProcessOdometryDataMessage(proto::AddOdometryDataRequest* data_request);
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std::shared_ptr<grpc::Channel> client_channel_;
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std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
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std::map<int, int> local_to_cloud_trajectory_id_map_;
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cartographer::common::BlockingQueue<
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std::unique_ptr<google::protobuf::Message>>
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send_queue_;
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bool shutting_down_ = false;
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std::unique_ptr<std::thread> upload_thread_;
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framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
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fixed_frame_pose_writer_;
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framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
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framework::ClientWriter<proto::AddLocalSlamResultDataRequest>
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local_slam_result_writer_;
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framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
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};
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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