98 lines
3.7 KiB
C++
98 lines
3.7 KiB
C++
/*
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* Copyright 2017 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_MAP_BUILDER_SERVER_H
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#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
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#include "cartographer/common/blocking_queue.h"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/local_slam_result_data.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer/sensor/dispatchable.h"
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#include "cartographer_grpc/internal/framework/execution_context.h"
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#include "cartographer_grpc/internal/framework/server.h"
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#include "cartographer_grpc/internal/local_trajectory_uploader.h"
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#include "cartographer_grpc/internal/map_builder_context.h"
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#include "cartographer_grpc/map_builder_server_interface.h"
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#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
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namespace cartographer {
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namespace cloud {
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class MapBuilderServer : public MapBuilderServerInterface {
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public:
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friend MapBuilderContext;
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MapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options,
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std::unique_ptr<mapping::MapBuilderInterface> map_builder);
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~MapBuilderServer() {}
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// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
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void Start() final;
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// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
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// either shutting down or some other thread must call 'Shutdown()' for this
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// function to ever return.
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void WaitForShutdown() final;
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// Waits until all computation is finished (for testing).
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void WaitUntilIdle() final;
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// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
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// thread.
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void Shutdown() final;
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private:
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using LocalSlamResultHandlerSubscriptions =
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std::map<int /* subscription_index */,
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MapBuilderContextInterface::LocalSlamSubscriptionCallback>;
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void ProcessSensorDataQueue();
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void StartSlamThread();
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void OnLocalSlamResult(
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int trajectory_id, common::Time time, transform::Rigid3d local_pose,
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sensor::RangeData range_data,
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std::unique_ptr<
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const mapping::TrajectoryBuilderInterface::InsertionResult>
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insertion_result);
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MapBuilderContextInterface::SubscriptionId SubscribeLocalSlamResults(
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int trajectory_id,
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MapBuilderContextInterface::LocalSlamSubscriptionCallback callback);
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void UnsubscribeLocalSlamResults(
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const MapBuilderContextInterface::SubscriptionId& subscription_id);
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void NotifyFinishTrajectory(int trajectory_id);
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bool shutting_down_ = false;
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std::unique_ptr<std::thread> slam_thread_;
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std::unique_ptr<framework::Server> grpc_server_;
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std::unique_ptr<mapping::MapBuilderInterface> map_builder_;
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common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>
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incoming_data_queue_;
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common::Mutex local_slam_subscriptions_lock_;
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int current_subscription_index_ = 0;
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std::map<int /* trajectory ID */, LocalSlamResultHandlerSubscriptions>
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local_slam_subscriptions_ GUARDED_BY(local_slam_subscriptions_lock_);
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std::unique_ptr<LocalTrajectoryUploaderInterface> local_trajectory_uploader_;
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int starting_submap_index_ = 0;
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};
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} // namespace cloud
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} // namespace cartographer
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#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
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