71 lines
2.4 KiB
C
71 lines
2.4 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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#ifndef CARTOGRAPHER_SENSOR_COLLATOR_INTERFACE_H_
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#define CARTOGRAPHER_SENSOR_COLLATOR_INTERFACE_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_set.h"
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#include "absl/types/optional.h"
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#include "cartographer/sensor/data.h"
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namespace cartographer {
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namespace sensor {
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class CollatorInterface {
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public:
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using Callback =
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std::function<void(const std::string&, std::unique_ptr<Data>)>;
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CollatorInterface() {}
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virtual ~CollatorInterface() {}
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CollatorInterface(const CollatorInterface&) = delete;
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CollatorInterface& operator=(const CollatorInterface&) = delete;
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// Adds a trajectory to produce sorted sensor output for. Calls 'callback'
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// for each collated sensor data.
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virtual 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) = 0;
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// Marks 'trajectory_id' as finished.
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virtual void FinishTrajectory(int trajectory_id) = 0;
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// Adds 'data' for 'trajectory_id' to be collated. 'data' must contain valid
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// sensor data. Sensor packets with matching 'data.sensor_id_' must be added
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// in time order.
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virtual void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) = 0;
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// Dispatches all queued sensor packets. May only be called once.
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// AddSensorData may not be called after Flush.
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virtual void Flush() = 0;
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// Must only be called if at least one unfinished trajectory exists. Returns
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// the ID of the trajectory that needs more data before CollatorInterface is
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// unblocked. Returns 'nullopt' for implementations that do not wait for a
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// particular trajectory.
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virtual absl::optional<int> GetBlockingTrajectoryId() const = 0;
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};
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_COLLATOR_INTERFACE_H_
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