42 lines
1.4 KiB
C++
42 lines
1.4 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/cloud/internal/handlers/write_state_to_file_handler.h"
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#include "async_grpc/rpc_handler.h"
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#include "cartographer/cloud/internal/map_builder_context_interface.h"
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#include "cartographer/cloud/internal/map_builder_server.h"
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#include "cartographer/cloud/proto/map_builder_service.pb.h"
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#include "cartographer/io/proto_stream.h"
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namespace cartographer {
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namespace cloud {
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namespace handlers {
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void WriteStateToFileHandler::OnRequest(
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const proto::WriteStateToFileRequest& request) {
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if (request.filename().empty()) {
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Finish(::grpc::Status(::grpc::INVALID_ARGUMENT, "Filename empty."));
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return;
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}
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GetContext<MapBuilderContextInterface>()->map_builder().SerializeStateToFile(
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/*include_unfinished_submaps=*/false, request.filename());
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}
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} // namespace handlers
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} // namespace cloud
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} // namespace cartographer
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