62 lines
2.1 KiB
C++
62 lines
2.1 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/load_state_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/mapping/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 LoadStateHandler::OnRequest(const proto::LoadStateRequest& request) {
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switch (request.state_chunk_case()) {
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case proto::LoadStateRequest::kSerializedData:
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reader_.AddProto(request.serialized_data());
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break;
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case proto::LoadStateRequest::kSerializationHeader:
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reader_.AddProto(request.serialization_header());
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break;
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case proto::LoadStateRequest::kClientId:
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client_id_ = request.client_id();
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break;
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default:
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LOG(FATAL) << "Unhandled proto::LoadStateRequest case.";
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}
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load_frozen_state_ = request.load_frozen_state();
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}
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void LoadStateHandler::OnReadsDone() {
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auto trajectory_remapping =
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GetContext<MapBuilderContextInterface>()->map_builder().LoadState(
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&reader_, load_frozen_state_);
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for (const auto& entry : trajectory_remapping) {
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GetContext<MapBuilderContextInterface>()->RegisterClientIdForTrajectory(
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client_id_, entry.second);
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}
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auto response = absl::make_unique<proto::LoadStateResponse>();
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*response->mutable_trajectory_remapping() = ToProto(trajectory_remapping);
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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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