61 lines
2.1 KiB
C
61 lines
2.1 KiB
C
|
/*
|
||
|
|
* Copyright 2018 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
|
||
|
|
#define CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
|
||
|
|
|
||
|
|
#include <memory>
|
||
|
|
|
||
|
|
#include "cartographer/cloud/proto/map_builder_server_options.pb.h"
|
||
|
|
#include "cartographer/mapping/map_builder_interface.h"
|
||
|
|
#include "cartographer/metrics/family_factory.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace cloud {
|
||
|
|
|
||
|
|
class MapBuilderServerInterface {
|
||
|
|
public:
|
||
|
|
virtual ~MapBuilderServerInterface() {}
|
||
|
|
|
||
|
|
// Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread.
|
||
|
|
virtual void Start() = 0;
|
||
|
|
|
||
|
|
// Waits for the 'MapBuilderServer' to shut down. Note: The server must be
|
||
|
|
// either shutting down or some other thread must call 'Shutdown()' for
|
||
|
|
// this function to ever return.
|
||
|
|
virtual void WaitForShutdown() = 0;
|
||
|
|
|
||
|
|
// Waits until all computation is finished (for testing).
|
||
|
|
virtual void WaitUntilIdle() = 0;
|
||
|
|
|
||
|
|
// Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM
|
||
|
|
// thread.
|
||
|
|
virtual void Shutdown() = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
// Registers all metrics for the MapBuilderServer.
|
||
|
|
void RegisterMapBuilderServerMetrics(metrics::FamilyFactory* factory);
|
||
|
|
|
||
|
|
// Returns MapBuilderServer with the actual implementation.
|
||
|
|
std::unique_ptr<MapBuilderServerInterface> CreateMapBuilderServer(
|
||
|
|
const proto::MapBuilderServerOptions& map_builder_server_options,
|
||
|
|
std::unique_ptr<mapping::MapBuilderInterface> map_builder);
|
||
|
|
|
||
|
|
} // namespace cloud
|
||
|
|
} // namespace cartographer
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
|