cartographer/cartographer_grpc/mapping/trajectory_builder_stub.cc

116 lines
4.3 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/mapping/trajectory_builder_stub.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace mapping {
TrajectoryBuilderStub::TrajectoryBuilderStub(
std::shared_ptr<grpc::Channel> client_channel, const int trajectory_id)
: client_channel_(client_channel), trajectory_id_(trajectory_id) {
stub_ = proto::MapBuilderService::NewStub(client_channel_);
CHECK(stub_) << "Failed to create stub.";
}
TrajectoryBuilderStub::~TrajectoryBuilderStub() {
if (rangefinder_writer_.client_writer) {
CHECK(rangefinder_writer_.client_writer->Finish().ok());
}
if (imu_writer_.client_writer) {
CHECK(imu_writer_.client_writer->Finish().ok());
}
if (odometry_writer_.client_writer) {
CHECK(odometry_writer_.client_writer->Finish().ok());
}
if (fixed_frame_writer_.client_writer) {
CHECK(fixed_frame_writer_.client_writer->Finish().ok());
}
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData& timed_point_cloud_data) {
if (!rangefinder_writer_.client_writer) {
rangefinder_writer_.client_writer = stub_->AddRangefinderData(
&rangefinder_writer_.client_context, &rangefinder_writer_.response);
CHECK(rangefinder_writer_.client_writer);
}
proto::AddRangefinderDataRequest request;
*request.mutable_sensor_metadata() = CreateSensorMetadata(sensor_id);
*request.mutable_timed_point_cloud_data() =
cartographer::sensor::ToProto(timed_point_cloud_data);
rangefinder_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) {
if (!imu_writer_.client_writer) {
imu_writer_.client_writer =
stub_->AddImuData(&imu_writer_.client_context, &imu_writer_.response);
CHECK(imu_writer_.client_writer);
}
proto::AddImuDataRequest request;
*request.mutable_sensor_metadata() = CreateSensorMetadata(sensor_id);
*request.mutable_imu_data() = cartographer::sensor::ToProto(imu_data);
imu_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) {
if (!odometry_writer_.client_writer) {
odometry_writer_.client_writer = stub_->AddOdometryData(
&odometry_writer_.client_context, &odometry_writer_.response);
CHECK(odometry_writer_.client_writer);
}
proto::AddOdometryDataRequest request;
*request.mutable_sensor_metadata() = CreateSensorMetadata(sensor_id);
*request.mutable_odometry_data() =
cartographer::sensor::ToProto(odometry_data);
odometry_writer_.client_writer->Write(request);
}
void TrajectoryBuilderStub::AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData& fixed_frame_pose) {
if (!fixed_frame_writer_.client_writer) {
fixed_frame_writer_.client_writer = stub_->AddFixedFramePoseData(
&fixed_frame_writer_.client_context, &fixed_frame_writer_.response);
CHECK(fixed_frame_writer_.client_writer);
}
proto::AddFixedFramePoseDataRequest request;
*request.mutable_sensor_metadata() = CreateSensorMetadata(sensor_id);
*request.mutable_fixed_frame_pose_data() =
cartographer::sensor::ToProto(fixed_frame_pose);
fixed_frame_writer_.client_writer->Write(request);
}
proto::SensorMetadata TrajectoryBuilderStub::CreateSensorMetadata(
const std::string& sensor_id) {
proto::SensorMetadata sensor_metadata;
sensor_metadata.set_sensor_id(sensor_id);
sensor_metadata.set_trajectory_id(trajectory_id_);
return sensor_metadata;
}
} // namespace mapping
} // namespace cartographer_grpc