282 lines
11 KiB
C++
282 lines
11 KiB
C++
/*
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* Copyright 2018 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_grpc/internal/local_trajectory_uploader.h"
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#include <map>
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#include <thread>
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/internal/framework/client.h"
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#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h"
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#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h"
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#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h"
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#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h"
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#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h"
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#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h"
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#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h"
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#include "cartographer_grpc/internal/sensor/serialization.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "glog/logging.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace {
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using ::cartographer::common::make_unique;
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const cartographer::common::Duration kPopTimeout =
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cartographer::common::FromMilliseconds(100);
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class LocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
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public:
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LocalTrajectoryUploader(const std::string &uplink_server_address)
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: client_channel_(grpc::CreateChannel(
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uplink_server_address, grpc::InsecureChannelCredentials())) {}
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~LocalTrajectoryUploader();
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// Starts the upload thread.
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void Start() final;
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// Shuts down the upload thread. This method blocks until the shutdown is
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// complete.
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void Shutdown() final;
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void AddTrajectory(
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int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions
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&trajectory_options) final;
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void FinishTrajectory(int local_trajectory_id) final;
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void EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) final;
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SensorId GetLocalSlamResultSensorId(int local_trajectory_id) const final {
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return SensorId{SensorId::SensorType::LOCAL_SLAM_RESULT,
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"local_slam_result_" + std::to_string(local_trajectory_id)};
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}
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private:
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void ProcessSendQueue();
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void TranslateTrajectoryId(proto::SensorMetadata *sensor_metadata);
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void ProcessFixedFramePoseDataMessage(
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proto::AddFixedFramePoseDataRequest *data_request);
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void ProcessImuDataMessage(proto::AddImuDataRequest *data_request);
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void ProcessLocalSlamResultDataMessage(
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proto::AddLocalSlamResultDataRequest *data_request);
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void ProcessOdometryDataMessage(proto::AddOdometryDataRequest *data_request);
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void ProcessLandmarkDataMessage(proto::AddLandmarkDataRequest *data_request);
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std::shared_ptr<grpc::Channel> client_channel_;
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std::map<int, int> local_to_cloud_trajectory_id_map_;
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cartographer::common::BlockingQueue<
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std::unique_ptr<google::protobuf::Message>>
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send_queue_;
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bool shutting_down_ = false;
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std::unique_ptr<std::thread> upload_thread_;
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std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
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add_fixed_frame_pose_client_;
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std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
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add_imu_client_;
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std::unique_ptr<framework::Client<handlers::AddLocalSlamResultDataHandler>>
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add_local_slam_result_client_;
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std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
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add_odometry_client_;
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std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
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add_landmark_client_;
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};
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LocalTrajectoryUploader::~LocalTrajectoryUploader() {
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if (add_imu_client_) {
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CHECK(add_imu_client_->WritesDone());
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CHECK(add_imu_client_->Finish().ok());
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}
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if (add_odometry_client_) {
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CHECK(add_odometry_client_->WritesDone());
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CHECK(add_odometry_client_->Finish().ok());
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}
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if (add_fixed_frame_pose_client_) {
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CHECK(add_fixed_frame_pose_client_->WritesDone());
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CHECK(add_fixed_frame_pose_client_->Finish().ok());
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}
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if (add_local_slam_result_client_) {
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CHECK(add_local_slam_result_client_->WritesDone());
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CHECK(add_local_slam_result_client_->Finish().ok());
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}
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if (add_landmark_client_) {
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CHECK(add_landmark_client_->WritesDone());
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CHECK(add_landmark_client_->Finish().ok());
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}
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}
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void LocalTrajectoryUploader::Start() {
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CHECK(!shutting_down_);
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CHECK(!upload_thread_);
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upload_thread_ =
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make_unique<std::thread>([this]() { this->ProcessSendQueue(); });
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}
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void LocalTrajectoryUploader::Shutdown() {
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CHECK(!shutting_down_);
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CHECK(upload_thread_);
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shutting_down_ = true;
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upload_thread_->join();
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}
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void LocalTrajectoryUploader::ProcessSendQueue() {
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LOG(INFO) << "Starting uploader thread.";
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while (!shutting_down_) {
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auto data_message = send_queue_.PopWithTimeout(kPopTimeout);
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if (data_message) {
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if (auto *fixed_frame_pose_data =
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dynamic_cast<proto::AddFixedFramePoseDataRequest *>(
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data_message.get())) {
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ProcessFixedFramePoseDataMessage(fixed_frame_pose_data);
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} else if (auto *imu_data = dynamic_cast<proto::AddImuDataRequest *>(
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data_message.get())) {
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ProcessImuDataMessage(imu_data);
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} else if (auto *odometry_data =
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dynamic_cast<proto::AddOdometryDataRequest *>(
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data_message.get())) {
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ProcessOdometryDataMessage(odometry_data);
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} else if (auto *local_slam_result_data =
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dynamic_cast<proto::AddLocalSlamResultDataRequest *>(
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data_message.get())) {
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ProcessLocalSlamResultDataMessage(local_slam_result_data);
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} else if (auto *landmark_data =
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dynamic_cast<proto::AddLandmarkDataRequest *>(
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data_message.get())) {
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ProcessLandmarkDataMessage(landmark_data);
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} else {
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LOG(FATAL) << "Unknown message type: " << data_message->GetTypeName();
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}
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}
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}
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}
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void LocalTrajectoryUploader::TranslateTrajectoryId(
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proto::SensorMetadata *sensor_metadata) {
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int cloud_trajectory_id =
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local_to_cloud_trajectory_id_map_.at(sensor_metadata->trajectory_id());
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sensor_metadata->set_trajectory_id(cloud_trajectory_id);
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}
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void LocalTrajectoryUploader::ProcessFixedFramePoseDataMessage(
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proto::AddFixedFramePoseDataRequest *data_request) {
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if (!add_fixed_frame_pose_client_) {
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add_fixed_frame_pose_client_ =
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make_unique<framework::Client<handlers::AddFixedFramePoseDataHandler>>(
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client_channel_);
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}
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TranslateTrajectoryId(data_request->mutable_sensor_metadata());
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CHECK(add_fixed_frame_pose_client_->Write(*data_request));
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}
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void LocalTrajectoryUploader::ProcessImuDataMessage(
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proto::AddImuDataRequest *data_request) {
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if (!add_imu_client_) {
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add_imu_client_ =
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make_unique<framework::Client<handlers::AddImuDataHandler>>(
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client_channel_);
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}
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TranslateTrajectoryId(data_request->mutable_sensor_metadata());
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CHECK(add_imu_client_->Write(*data_request));
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}
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void LocalTrajectoryUploader::ProcessOdometryDataMessage(
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proto::AddOdometryDataRequest *data_request) {
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if (!add_odometry_client_) {
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add_odometry_client_ =
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make_unique<framework::Client<handlers::AddOdometryDataHandler>>(
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client_channel_);
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}
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TranslateTrajectoryId(data_request->mutable_sensor_metadata());
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CHECK(add_odometry_client_->Write(*data_request));
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}
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void LocalTrajectoryUploader::ProcessLandmarkDataMessage(
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proto::AddLandmarkDataRequest *data_request) {
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if (!add_landmark_client_) {
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add_landmark_client_ =
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make_unique<framework::Client<handlers::AddLandmarkDataHandler>>(
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client_channel_);
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}
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TranslateTrajectoryId(data_request->mutable_sensor_metadata());
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CHECK(add_landmark_client_->Write(*data_request));
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}
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void LocalTrajectoryUploader::ProcessLocalSlamResultDataMessage(
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proto::AddLocalSlamResultDataRequest *data_request) {
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if (!add_local_slam_result_client_) {
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add_local_slam_result_client_ =
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make_unique<framework::Client<handlers::AddLocalSlamResultDataHandler>>(
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client_channel_);
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}
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TranslateTrajectoryId(data_request->mutable_sensor_metadata());
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// A submap also holds a trajectory id that must be translated to uplink's
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// trajectory id.
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for (cartographer::mapping::proto::Submap &mutable_submap :
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*data_request->mutable_local_slam_result_data()->mutable_submaps()) {
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mutable_submap.mutable_submap_id()->set_trajectory_id(
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data_request->sensor_metadata().trajectory_id());
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}
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CHECK(add_local_slam_result_client_->Write(*data_request));
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}
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void LocalTrajectoryUploader::AddTrajectory(
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int local_trajectory_id, const std::set<SensorId> &expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions
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&trajectory_options) {
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proto::AddTrajectoryRequest request;
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*request.mutable_trajectory_builder_options() = trajectory_options;
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for (const SensorId &sensor_id : expected_sensor_ids) {
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// Range sensors are not forwarded, but combined into a LocalSlamResult.
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if (sensor_id.type != SensorId::SensorType::RANGE) {
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*request.add_expected_sensor_ids() = sensor::ToProto(sensor_id);
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}
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}
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*request.add_expected_sensor_ids() =
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sensor::ToProto(GetLocalSlamResultSensorId(local_trajectory_id));
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framework::Client<handlers::AddTrajectoryHandler> client(client_channel_);
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CHECK(client.Write(request));
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CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
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local_to_cloud_trajectory_id_map_[local_trajectory_id] =
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client.response().trajectory_id();
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}
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void LocalTrajectoryUploader::FinishTrajectory(int local_trajectory_id) {
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CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 1);
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int cloud_trajectory_id =
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local_to_cloud_trajectory_id_map_[local_trajectory_id];
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proto::FinishTrajectoryRequest request;
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request.set_trajectory_id(cloud_trajectory_id);
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framework::Client<handlers::FinishTrajectoryHandler> client(client_channel_);
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CHECK(client.Write(request));
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}
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void LocalTrajectoryUploader::EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) {
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send_queue_.Push(std::move(data_request));
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}
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} // namespace
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std::unique_ptr<LocalTrajectoryUploaderInterface> CreateLocalTrajectoryUploader(
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const std::string &uplink_server_address) {
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return make_unique<LocalTrajectoryUploader>(uplink_server_address);
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}
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} // namespace cartographer_grpc
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