74 lines
2.9 KiB
C++
74 lines
2.9 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_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "cartographer_grpc/sensor/serialization.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class AddFixedFramePoseDataHandler
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: public framework::RpcHandler<
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framework::Stream<proto::AddFixedFramePoseDataRequest>,
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google::protobuf::Empty> {
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public:
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std::string method_name() const override {
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return "/cartographer_grpc.proto.MapBuilderService/AddFixedFramePoseData";
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}
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void OnRequest(const proto::AddFixedFramePoseDataRequest &request) override {
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// The 'BlockingQueue' returned by 'sensor_data_queue()' is already
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// thread-safe. Therefore it suffices to get an unsynchronized reference to
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// the 'MapBuilderContext'.
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GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->EnqueueSensorData(
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request.sensor_metadata().trajectory_id(),
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request.sensor_metadata().sensor_id(),
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cartographer::sensor::FromProto(request.fixed_frame_pose_data()));
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// The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
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// Therefore it suffices to get an unsynchronized reference to the
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// 'MapBuilderContext'.
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if (GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->local_trajectory_uploader()) {
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auto data_request = cartographer::common::make_unique<
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proto::AddFixedFramePoseDataRequest>();
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sensor::CreateAddFixedFramePoseDataRequest(
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request.sensor_metadata().sensor_id(),
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request.sensor_metadata().trajectory_id(),
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request.fixed_frame_pose_data(), data_request.get());
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GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
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->local_trajectory_uploader()
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->EnqueueDataRequest(std::move(data_request));
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}
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}
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void OnReadsDone() override {
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H
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