cartographer/cartographer_grpc/map_builder_server.cc

131 lines
4.6 KiB
C++

/*
* Copyright 2017 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_grpc/map_builder_server.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace {
const cartographer::common::Duration kPopTimeout =
cartographer::common::FromMilliseconds(100);
} // namespace
MapBuilderServer::MapBuilderContext::MapBuilderContext(
cartographer::mapping::MapBuilder* map_builder,
cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>*
sensor_data_queue)
: map_builder_(map_builder), sensor_data_queue_(sensor_data_queue) {}
cartographer::mapping::MapBuilder&
MapBuilderServer::MapBuilderContext::map_builder() {
return *map_builder_;
}
cartographer::common::BlockingQueue<
std::unique_ptr<MapBuilderServer::SensorData>>&
MapBuilderServer::MapBuilderContext::sensor_data_queue() {
return *sensor_data_queue_;
}
void MapBuilderServer::MapBuilderContext::AddSensorDataToTrajectory(
const SensorData& sensor_data) {
sensor_data.sensor_data->AddToTrajectoryBuilder(
map_builder_->GetTrajectoryBuilder(sensor_data.trajectory_id));
}
MapBuilderServer::MapBuilderServer(
const proto::MapBuilderServerOptions& map_builder_server_options)
: map_builder_(map_builder_server_options.map_builder_options()) {
framework::Server::Builder server_builder;
server_builder.SetServerAddress(map_builder_server_options.server_address());
server_builder.SetNumGrpcThreads(
map_builder_server_options.num_grpc_threads());
server_builder.SetNumEventThreads(
map_builder_server_options.num_event_threads());
server_builder.RegisterHandler<handlers::AddTrajectoryHandler,
proto::MapBuilderService>("AddTrajectory");
server_builder.RegisterHandler<handlers::AddOdometryDataHandler,
proto::MapBuilderService>("AddOdometryData");
server_builder
.RegisterHandler<handlers::AddImuDataHandler, proto::MapBuilderService>(
"AddImuData");
server_builder.RegisterHandler<handlers::AddRangefinderDataHandler,
proto::MapBuilderService>(
"AddRangefinderData");
server_builder.RegisterHandler<handlers::AddFixedFramePoseDataHandler,
proto::MapBuilderService>(
"AddFixedFramePoseData");
server_builder.RegisterHandler<handlers::FinishTrajectoryHandler,
proto::MapBuilderService>("FinishTrajectory");
grpc_server_ = server_builder.Build();
grpc_server_->SetExecutionContext(
cartographer::common::make_unique<MapBuilderContext>(
&map_builder_, &sensor_data_queue_));
}
void MapBuilderServer::Start() {
shutting_down_ = false;
StartSlamThread();
grpc_server_->Start();
}
void MapBuilderServer::WaitForShutdown() {
grpc_server_->WaitForShutdown();
if (slam_thread_) {
slam_thread_->join();
}
}
void MapBuilderServer::Shutdown() {
shutting_down_ = true;
grpc_server_->Shutdown();
if (slam_thread_) {
slam_thread_->join();
}
}
void MapBuilderServer::ProcessSensorDataQueue() {
LOG(INFO) << "Starting SLAM thread.";
while (!shutting_down_) {
std::unique_ptr<SensorData> sensor_data =
sensor_data_queue_.PopWithTimeout(kPopTimeout);
if (sensor_data) {
grpc_server_->GetContext<MapBuilderContext>()->AddSensorDataToTrajectory(
*sensor_data);
}
}
}
void MapBuilderServer::StartSlamThread() {
CHECK(!slam_thread_);
// Start the SLAM processing thread.
slam_thread_ = cartographer::common::make_unique<std::thread>(
[this]() { this->ProcessSensorDataQueue(); });
}
} // namespace cartographer_grpc