67 lines
2.5 KiB
C++
67 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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#include "cartographer_grpc/local_trajectory_uploader.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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LocalTrajectoryUploader::LocalTrajectoryUploader(
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const std::string& server_address)
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: client_channel_(grpc::CreateChannel(server_address,
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grpc::InsecureChannelCredentials())),
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service_stub_(proto::MapBuilderService::NewStub(client_channel_)) {}
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void LocalTrajectoryUploader::AddTrajectory(
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int local_trajectory_id,
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const std::unordered_set<std::string>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options) {
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grpc::ClientContext client_context;
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proto::AddTrajectoryRequest request;
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proto::AddTrajectoryResponse result;
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*request.mutable_trajectory_builder_options() = trajectory_options;
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for (const auto& sensor_id : expected_sensor_ids) {
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*request.add_expected_sensor_ids() = sensor_id;
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}
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grpc::Status status =
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service_stub_->AddTrajectory(&client_context, request, &result);
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CHECK(status.ok());
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CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
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local_to_cloud_trajectory_id_map_[local_trajectory_id] =
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result.trajectory_id();
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}
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void LocalTrajectoryUploader::FinishTrajectory(int local_trajectory_id) {
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CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 1);
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int cloud_trajectory_id =
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local_to_cloud_trajectory_id_map_[local_trajectory_id];
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grpc::ClientContext client_context;
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proto::FinishTrajectoryRequest request;
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google::protobuf::Empty response;
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request.set_trajectory_id(cloud_trajectory_id);
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grpc::Status status =
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service_stub_->FinishTrajectory(&client_context, request, &response);
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CHECK(status.ok());
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}
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void LocalTrajectoryUploader::EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request) {
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send_queue_.Push(std::move(data_request));
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}
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} // namespace cartographer_grpc
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