87 lines
3.5 KiB
C++
87 lines
3.5 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 <thread>
|
|
|
|
#include "cartographer/mapping/local_slam_result_data.h"
|
|
#include "cartographer/mapping/trajectory_builder_interface.h"
|
|
#include "cartographer_grpc/framework/client_writer.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,
|
|
LocalSlamResultCallback local_slam_result_callback);
|
|
~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;
|
|
void AddSensorData(
|
|
const std::string& sensor_id,
|
|
const cartographer::sensor::LandmarkData& landmark_data) override;
|
|
void AddLocalSlamResultData(
|
|
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
|
|
local_slam_result_data) override;
|
|
|
|
private:
|
|
struct LocalSlamResultReader {
|
|
grpc::ClientContext client_context;
|
|
std::unique_ptr<grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>>
|
|
client_reader;
|
|
std::unique_ptr<std::thread> thread;
|
|
};
|
|
|
|
static void RunLocalSlamResultReader(
|
|
grpc::ClientReader<proto::ReceiveLocalSlamResultsResponse>* client_reader,
|
|
LocalSlamResultCallback local_slam_result_callback);
|
|
|
|
std::shared_ptr<grpc::Channel> client_channel_;
|
|
const int trajectory_id_;
|
|
std::unique_ptr<proto::MapBuilderService::Stub> stub_;
|
|
framework::ClientWriter<proto::AddRangefinderDataRequest> rangefinder_writer_;
|
|
framework::ClientWriter<proto::AddImuDataRequest> imu_writer_;
|
|
framework::ClientWriter<proto::AddOdometryDataRequest> odometry_writer_;
|
|
framework::ClientWriter<proto::AddFixedFramePoseDataRequest>
|
|
fixed_frame_writer_;
|
|
framework::ClientWriter<proto::AddLandmarkDataRequest> landmark_writer_;
|
|
LocalSlamResultReader local_slam_result_reader_;
|
|
};
|
|
|
|
} // namespace mapping
|
|
} // namespace cartographer_grpc
|
|
|
|
#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
|