82 lines
3.2 KiB
C++
82 lines
3.2 KiB
C++
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/*
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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/add_trajectory_handler.h"
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#include "absl/memory/memory.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/sensor/serialization.h"
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#include "cartographer/cloud/proto/map_builder_service.pb.h"
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namespace cartographer {
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namespace cloud {
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namespace handlers {
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void AddTrajectoryHandler::OnRequest(
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const proto::AddTrajectoryRequest& request) {
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auto local_slam_result_callback =
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GetUnsynchronizedContext<MapBuilderContextInterface>()
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->GetLocalSlamResultCallbackForSubscriptions();
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std::set<mapping::TrajectoryBuilderInterface::SensorId> expected_sensor_ids;
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for (const auto& sensor_id : request.expected_sensor_ids()) {
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expected_sensor_ids.insert(FromProto(sensor_id));
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}
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const int trajectory_id =
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GetContext<MapBuilderContextInterface>()
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->map_builder()
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.AddTrajectoryBuilder(expected_sensor_ids,
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request.trajectory_builder_options(),
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local_slam_result_callback);
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GetContext<MapBuilderContextInterface>()->RegisterClientIdForTrajectory(
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request.client_id(), trajectory_id);
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if (GetUnsynchronizedContext<MapBuilderContextInterface>()
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->local_trajectory_uploader()) {
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auto trajectory_builder_options = request.trajectory_builder_options();
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// Clear the trajectory builder options to convey to the cloud
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// Cartographer instance that does not need to instantiate a
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// 'LocalTrajectoryBuilder'.
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trajectory_builder_options.clear_trajectory_builder_2d_options();
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trajectory_builder_options.clear_trajectory_builder_3d_options();
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// Don't instantiate the 'PureLocalizationTrimmer' on the server and don't
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// freeze the trajectory on the server.
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trajectory_builder_options.clear_pure_localization_trimmer();
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// Ignore initial poses in trajectory_builder_options.
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trajectory_builder_options.clear_initial_trajectory_pose();
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auto status =
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GetContext<MapBuilderContextInterface>()
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->local_trajectory_uploader()
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->AddTrajectory(request.client_id(), trajectory_id,
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expected_sensor_ids, trajectory_builder_options);
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if (!status.ok()) {
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LOG(ERROR) << "Failed to create trajectory_id " << trajectory_id
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<< " in uplink. Error: " << status.error_message();
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}
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}
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auto response = absl::make_unique<proto::AddTrajectoryResponse>();
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response->set_trajectory_id(trajectory_id);
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Send(std::move(response));
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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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