92 lines
3.1 KiB
C++
92 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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#ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
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#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
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#include "cartographer/common/blocking_queue.h"
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#include "cartographer/mapping/map_builder.h"
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#include "cartographer/sensor/data.h"
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#include "cartographer_grpc/framework/execution_context.h"
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#include "cartographer_grpc/framework/server.h"
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#include "cartographer_grpc/proto/map_builder_server_options.pb.h"
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namespace cartographer_grpc {
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class MapBuilderServer {
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public:
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struct SensorData {
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int trajectory_id;
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std::unique_ptr<cartographer::sensor::Data> sensor_data;
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};
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class MapBuilderContext : public framework::ExecutionContext {
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public:
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MapBuilderContext(
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cartographer::mapping::MapBuilder* map_builder,
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cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>*
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sensor_data_queue);
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cartographer::mapping::MapBuilder& map_builder();
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cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>&
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sensor_data_queue();
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void AddSensorDataToTrajectory(const SensorData& sensor_data);
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template <typename SensorDataType>
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void EnqueueSensorData(int trajectory_id, const std::string& sensor_id,
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const SensorDataType& sensor_data) {
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sensor_data_queue_->Push(
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cartographer::common::make_unique<MapBuilderServer::SensorData>(
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MapBuilderServer::SensorData{
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trajectory_id, cartographer::sensor::MakeDispatchable(
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sensor_id, sensor_data)}));
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}
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private:
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cartographer::mapping::MapBuilder* map_builder_;
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cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>*
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sensor_data_queue_;
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};
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MapBuilderServer(
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const proto::MapBuilderServerOptions& map_builder_server_options);
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// Starts the gRPC server and the SLAM thread.
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void Start();
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// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
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// either shutting down or some other thread must call 'Shutdown()' for this
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// function to ever return.
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void WaitForShutdown();
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// Shuts down the gRPC server and the SLAM thread.
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void Shutdown();
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private:
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void ProcessSensorDataQueue();
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void StartSlamThread();
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bool shutting_down_ = false;
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std::unique_ptr<std::thread> slam_thread_;
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std::unique_ptr<framework::Server> grpc_server_;
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cartographer::mapping::MapBuilder map_builder_;
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cartographer::common::BlockingQueue<std::unique_ptr<SensorData>>
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sensor_data_queue_;
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};
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H
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