78 lines
2.7 KiB
C++
78 lines
2.7 KiB
C++
/*
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* Copyright 2016 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/mapping/collated_trajectory_builder.h"
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#include "cartographer/common/time.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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constexpr double kSensorDataRatesLoggingPeriodSeconds = 15.;
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} // namespace
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CollatedTrajectoryBuilder::CollatedTrajectoryBuilder(
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sensor::Collator* const sensor_collator, const int trajectory_id,
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const std::unordered_set<std::string>& expected_sensor_ids,
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std::unique_ptr<TrajectoryBuilderInterface> wrapped_trajectory_builder)
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: sensor_collator_(sensor_collator),
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trajectory_id_(trajectory_id),
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wrapped_trajectory_builder_(std::move(wrapped_trajectory_builder)),
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last_logging_time_(std::chrono::steady_clock::now()) {
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sensor_collator_->AddTrajectory(
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trajectory_id, expected_sensor_ids,
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[this](const std::string& sensor_id, std::unique_ptr<sensor::Data> data) {
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HandleCollatedSensorData(sensor_id, std::move(data));
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});
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}
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CollatedTrajectoryBuilder::~CollatedTrajectoryBuilder() {}
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void CollatedTrajectoryBuilder::AddData(std::unique_ptr<sensor::Data> data) {
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sensor_collator_->AddSensorData(trajectory_id_, std::move(data));
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}
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void CollatedTrajectoryBuilder::HandleCollatedSensorData(
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const std::string& sensor_id, std::unique_ptr<sensor::Data> data) {
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auto it = rate_timers_.find(sensor_id);
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if (it == rate_timers_.end()) {
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it = rate_timers_
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.emplace(
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std::piecewise_construct, std::forward_as_tuple(sensor_id),
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std::forward_as_tuple(
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common::FromSeconds(kSensorDataRatesLoggingPeriodSeconds)))
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.first;
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}
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it->second.Pulse(data->GetTime());
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if (std::chrono::steady_clock::now() - last_logging_time_ >
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common::FromSeconds(kSensorDataRatesLoggingPeriodSeconds)) {
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for (const auto& pair : rate_timers_) {
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LOG(INFO) << pair.first << " rate: " << pair.second.DebugString();
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}
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last_logging_time_ = std::chrono::steady_clock::now();
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}
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data->AddToTrajectoryBuilder(wrapped_trajectory_builder_.get());
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}
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} // namespace mapping
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} // namespace cartographer
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