59 lines
2.2 KiB
C++
59 lines
2.2 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/finish_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/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.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 FinishTrajectoryHandler::OnRequest(
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const proto::FinishTrajectoryRequest& request) {
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if (!GetContext<MapBuilderContextInterface>()->CheckClientIdForTrajectory(
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request.client_id(), request.trajectory_id())) {
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LOG(ERROR) << "Unknown trajectory with ID " << request.trajectory_id()
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<< " and client_id " << request.client_id();
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Finish(::grpc::Status(::grpc::NOT_FOUND, "Unknown trajectory"));
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return;
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}
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GetContext<MapBuilderContextInterface>()->map_builder().FinishTrajectory(
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request.trajectory_id());
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GetUnsynchronizedContext<MapBuilderContextInterface>()
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->NotifyFinishTrajectory(request.trajectory_id());
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if (GetUnsynchronizedContext<MapBuilderContextInterface>()
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->local_trajectory_uploader()) {
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auto status =
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GetContext<MapBuilderContextInterface>()
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->local_trajectory_uploader()
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->FinishTrajectory(request.client_id(), request.trajectory_id());
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if (!status.ok()) {
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LOG(ERROR) << "Failed to finish trajectory in uplink: "
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<< status.error_message();
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}
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}
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Send(absl::make_unique<google::protobuf::Empty>());
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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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