65 lines
1.9 KiB
C
65 lines
1.9 KiB
C
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/*
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* Copyright 2016 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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#ifndef CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_
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#define CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_
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#include <functional>
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#include <memory>
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#include <vector>
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#include "absl/container/flat_hash_map.h"
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#include "absl/container/flat_hash_set.h"
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#include "cartographer/sensor/collator_interface.h"
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#include "cartographer/sensor/data.h"
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#include "cartographer/sensor/internal/ordered_multi_queue.h"
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namespace cartographer {
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namespace sensor {
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class Collator : public CollatorInterface {
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public:
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Collator() {}
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Collator(const Collator&) = delete;
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Collator& operator=(const Collator&) = delete;
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void AddTrajectory(
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int trajectory_id,
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const absl::flat_hash_set<std::string>& expected_sensor_ids,
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const Callback& callback) override;
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void FinishTrajectory(int trajectory_id) override;
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void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) override;
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void Flush() override;
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absl::optional<int> GetBlockingTrajectoryId() const override;
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private:
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// Queue keys are a pair of trajectory ID and sensor identifier.
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OrderedMultiQueue queue_;
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// Map of trajectory ID to all associated QueueKeys.
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absl::flat_hash_map<int, std::vector<QueueKey>> queue_keys_;
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};
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_
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