cartographer/cartographer_grpc/mapping/map_builder_stub.cc

160 lines
5.8 KiB
C++

/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer_grpc/mapping/map_builder_stub.h"
#include "cartographer_grpc/handlers/add_trajectory_handler.h"
#include "cartographer_grpc/handlers/finish_trajectory_handler.h"
#include "cartographer_grpc/handlers/get_submap_handler.h"
#include "cartographer_grpc/handlers/load_map_handler.h"
#include "cartographer_grpc/handlers/write_map_handler.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "cartographer_grpc/sensor/serialization.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace mapping {
MapBuilderStub::MapBuilderStub(const std::string& server_address)
: client_channel_(grpc::CreateChannel(server_address,
grpc::InsecureChannelCredentials())),
pose_graph_stub_(client_channel_) {}
int MapBuilderStub::AddTrajectoryBuilder(
const std::set<SensorId>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options,
LocalSlamResultCallback local_slam_result_callback) {
proto::AddTrajectoryRequest request;
*request.mutable_trajectory_builder_options() = trajectory_options;
for (const auto& sensor_id : expected_sensor_ids) {
*request.add_expected_sensor_ids() = sensor::ToProto(sensor_id);
}
framework::Client<handlers::AddTrajectoryHandler> client(
client_channel_,
framework::CreateLimitedBackoffStrategy(
cartographer::common::FromMilliseconds(100), 2.f, 5));
CHECK(client.Write(request));
// Construct trajectory builder stub.
trajectory_builder_stubs_.emplace(
std::piecewise_construct,
std::forward_as_tuple(client.response().trajectory_id()),
std::forward_as_tuple(cartographer::common::make_unique<
cartographer_grpc::mapping::TrajectoryBuilderStub>(
client_channel_, client.response().trajectory_id(),
local_slam_result_callback)));
return client.response().trajectory_id();
}
int MapBuilderStub::AddTrajectoryForDeserialization(
const cartographer::mapping::proto::TrajectoryBuilderOptionsWithSensorIds&
options_with_sensor_ids_proto) {
LOG(FATAL) << "Not implemented";
}
cartographer::mapping::TrajectoryBuilderInterface*
MapBuilderStub::GetTrajectoryBuilder(int trajectory_id) const {
return trajectory_builder_stubs_.at(trajectory_id).get();
}
void MapBuilderStub::FinishTrajectory(int trajectory_id) {
proto::FinishTrajectoryRequest request;
request.set_trajectory_id(trajectory_id);
framework::Client<handlers::FinishTrajectoryHandler> client(client_channel_);
CHECK(client.Write(request));
trajectory_builder_stubs_.erase(trajectory_id);
}
std::string MapBuilderStub::SubmapToProto(
const cartographer::mapping::SubmapId& submap_id,
cartographer::mapping::proto::SubmapQuery::Response*
submap_query_response) {
proto::GetSubmapRequest request;
submap_id.ToProto(request.mutable_submap_id());
framework::Client<handlers::GetSubmapHandler> client(client_channel_);
CHECK(client.Write(request));
submap_query_response->CopyFrom(client.response().submap_query_response());
return client.response().error_msg();
}
void MapBuilderStub::SerializeState(
cartographer::io::ProtoStreamWriterInterface* writer) {
google::protobuf::Empty request;
framework::Client<handlers::WriteMapHandler> client(client_channel_);
CHECK(client.Write(request));
proto::WriteMapResponse response;
while (client.Read(&response)) {
// writer->WriteProto(response);
switch (response.map_chunk_case()) {
case proto::WriteMapResponse::kPoseGraph:
writer->WriteProto(response.pose_graph());
break;
case proto::WriteMapResponse::kAllTrajectoryBuilderOptions:
writer->WriteProto(response.all_trajectory_builder_options());
break;
case proto::WriteMapResponse::kSerializedData:
writer->WriteProto(response.serialized_data());
break;
default:
LOG(FATAL) << "Unhandled message type";
}
}
CHECK(writer->Close());
}
void MapBuilderStub::LoadMap(
cartographer::io::ProtoStreamReaderInterface* reader) {
framework::Client<handlers::LoadMapHandler> client(client_channel_);
// Request with a PoseGraph proto is sent first.
{
proto::LoadMapRequest request;
CHECK(reader->ReadProto(request.mutable_pose_graph()));
CHECK(client.Write(request));
}
// Request with an AllTrajectoryBuilderOptions should be second.
{
proto::LoadMapRequest request;
CHECK(reader->ReadProto(request.mutable_all_trajectory_builder_options()));
CHECK(client.Write(request));
}
// Multiple requests with SerializedData are sent after.
proto::LoadMapRequest request;
while (reader->ReadProto(request.mutable_serialized_data())) {
CHECK(client.Write(request));
}
CHECK(reader->eof());
CHECK(client.WritesDone());
CHECK(client.Finish().ok());
}
int MapBuilderStub::num_trajectory_builders() const {
return trajectory_builder_stubs_.size();
}
cartographer::mapping::PoseGraphInterface* MapBuilderStub::pose_graph() {
return &pose_graph_stub_;
}
const std::vector<
cartographer::mapping::proto::TrajectoryBuilderOptionsWithSensorIds>&
MapBuilderStub::GetAllTrajectoryBuilderOptions() const {
LOG(FATAL) << "Not implemented";
}
} // namespace mapping
} // namespace cartographer_grpc