44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
/*
|
|
* Copyright 2018 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.
|
|
*/
|
|
|
|
#include "cartographer/cloud/internal/handlers/load_state_from_file_handler.h"
|
|
|
|
#include "async_grpc/rpc_handler.h"
|
|
#include "cartographer/cloud/internal/map_builder_context_interface.h"
|
|
#include "cartographer/cloud/internal/mapping/serialization.h"
|
|
#include "cartographer/cloud/proto/map_builder_service.pb.h"
|
|
#include "cartographer/common/make_unique.h"
|
|
|
|
namespace cartographer {
|
|
namespace cloud {
|
|
namespace handlers {
|
|
|
|
void LoadStateFromFileHandler::OnRequest(
|
|
const proto::LoadStateFromFileRequest& request) {
|
|
// TODO(gaschler): This blocks a handler thread, consider working in
|
|
// background.
|
|
auto trajectory_remapping =
|
|
GetContext<MapBuilderContextInterface>()->map_builder().LoadStateFromFile(
|
|
request.file_path());
|
|
auto response = common::make_unique<proto::LoadStateFromFileResponse>();
|
|
*response->mutable_trajectory_remapping() = ToProto(trajectory_remapping);
|
|
Send(std::move(response));
|
|
}
|
|
|
|
} // namespace handlers
|
|
} // namespace cloud
|
|
} // namespace cartographer
|