83 lines
3.1 KiB
C++
83 lines
3.1 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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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/metrics/register.h"
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#include "cartographer_grpc/map_builder_server_interface.h"
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#include "cartographer_grpc/map_builder_server_options.h"
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#include "gflags/gflags.h"
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#include "glog/logging.h"
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#if USE_PROMETHEUS
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#include "cartographer_grpc/metrics/prometheus/family_factory.h"
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#include "prometheus/exposer.h"
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#endif
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DEFINE_string(configuration_directory, "",
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"First directory in which configuration files are searched, "
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"second is always the Cartographer installation to allow "
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"including files from there.");
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DEFINE_string(configuration_basename, "",
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"Basename, i.e. not containing any directory prefix, of the "
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"configuration file.");
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namespace cartographer {
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namespace cloud {
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void Run(const std::string& configuration_directory,
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const std::string& configuration_basename) {
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#if USE_PROMETHEUS
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metrics::prometheus::FamilyFactory registry;
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::cartographer::metrics::RegisterAllMetrics(®istry);
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::prometheus::Exposer exposer("0.0.0.0:9100");
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exposer.RegisterCollectable(registry.GetCollectable());
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LOG(INFO) << "Exposing metrics at http://localhost:9100/metrics";
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#endif
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proto::MapBuilderServerOptions map_builder_server_options =
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LoadMapBuilderServerOptions(configuration_directory,
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configuration_basename);
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// TODO(gaschler): Remove this override when parameter is imported from lua
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// config.
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map_builder_server_options.mutable_map_builder_options()
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->set_collate_by_trajectory(true);
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auto map_builder = common::make_unique<mapping::MapBuilder>(
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map_builder_server_options.map_builder_options());
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std::unique_ptr<MapBuilderServerInterface> map_builder_server =
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CreateMapBuilderServer(map_builder_server_options,
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std::move(map_builder));
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map_builder_server->Start();
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map_builder_server->WaitForShutdown();
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}
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} // namespace cloud
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} // namespace cartographer
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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FLAGS_logtostderr = true;
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google::SetUsageMessage(
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"\n\n"
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"This program offers a MapBuilder service via a gRPC interface.\n");
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google::ParseCommandLineFlags(&argc, &argv, true);
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if (FLAGS_configuration_directory.empty() ||
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FLAGS_configuration_basename.empty()) {
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google::ShowUsageWithFlagsRestrict(argv[0], "cloud_server");
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return EXIT_FAILURE;
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}
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cartographer::cloud::Run(FLAGS_configuration_directory,
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FLAGS_configuration_basename);
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}
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