52 lines
2.1 KiB
C++
52 lines
2.1 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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#include "cartographer_grpc/map_builder_server_options.h"
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#include "cartographer/common/configuration_file_resolver.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping/map_builder.h"
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namespace cartographer_grpc {
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proto::MapBuilderServerOptions CreateMapBuilderServerOptions(
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::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary) {
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proto::MapBuilderServerOptions map_builder_server_options;
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map_builder_server_options.set_server_address(
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lua_parameter_dictionary->GetString("server_address"));
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map_builder_server_options.set_num_grpc_threads(
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lua_parameter_dictionary->GetInt("num_grpc_threads"));
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*map_builder_server_options.mutable_map_builder_options() =
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cartographer::mapping::CreateMapBuilderOptions(
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lua_parameter_dictionary->GetDictionary("map_builder").get());
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return map_builder_server_options;
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}
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proto::MapBuilderServerOptions LoadMapBuilderServerOptions(
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const std::string& configuration_directory,
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const std::string& configuration_basename) {
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auto file_resolver = cartographer::common::make_unique<
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cartographer::common::ConfigurationFileResolver>(
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std::vector<std::string>{configuration_directory});
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const std::string code =
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file_resolver->GetFileContentOrDie(configuration_basename);
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cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
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code, std::move(file_resolver));
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return CreateMapBuilderServerOptions(&lua_parameter_dictionary);
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}
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} // namespace cartographer_grpc
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