68 lines
2.5 KiB
C++
68 lines
2.5 KiB
C++
/*
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* Copyright 2018 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_HANDLERS_WRITE_MAP_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer/io/in_memory_proto_stream.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class WriteMapHandler
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: public framework::RpcHandler<google::protobuf::Empty,
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framework::Stream<proto::WriteMapResponse>> {
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public:
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std::string method_name() const override {
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return "/cartographer_grpc.proto.MapBuilderService/WriteMap";
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}
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void OnRequest(const google::protobuf::Empty& request) override {
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auto writer = GetWriter();
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cartographer::io::ForwardingProtoStreamWriter proto_stream_writer(
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[writer](const google::protobuf::Message* proto) {
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if (!proto) {
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writer.WritesDone();
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return true;
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}
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auto response =
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cartographer::common::make_unique<proto::WriteMapResponse>();
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if (proto->GetTypeName() == "cartographer.mapping.proto.PoseGraph") {
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response->mutable_pose_graph()->CopyFrom(*proto);
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} else if (proto->GetTypeName() ==
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"cartographer.mapping.proto.SerializedData") {
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response->mutable_serialized_data()->CopyFrom(*proto);
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} else {
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LOG(FATAL) << "Unsupported message type: " << proto->GetTypeName();
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}
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writer.Write(std::move(response));
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return true;
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});
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GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
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&proto_stream_writer);
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_WRITE_MAP_HANDLER_H
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