55 lines
1.8 KiB
C++
55 lines
1.8 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_LOCAL_TRAJECTORY_UPLOADER_H
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#define CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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#include <map>
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#include <string>
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#include <unordered_set>
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#include "cartographer/common/blocking_queue.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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class LocalTrajectoryUploader {
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public:
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LocalTrajectoryUploader(const std::string& server_address);
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void 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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void FinishTrajectory(int local_trajectory_id);
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void EnqueueDataRequest(
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std::unique_ptr<google::protobuf::Message> data_request);
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private:
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std::shared_ptr<grpc::Channel> client_channel_;
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std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
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std::map<int, int> local_to_cloud_trajectory_id_map_;
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cartographer::common::BlockingQueue<
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std::unique_ptr<google::protobuf::Message>>
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send_queue_;
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};
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_LOCAL_TRAJECTORY_UPLOADER_H
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