105 lines
4.4 KiB
C++
Executable File
105 lines
4.4 KiB
C++
Executable File
/*
|
|
* 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_CONTEXT_INTERFACE_H
|
|
#define CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
|
|
|
|
#include "async_grpc/execution_context.h"
|
|
#include "cartographer/cloud/internal/local_trajectory_uploader.h"
|
|
#include "cartographer/common/internal/blocking_queue.h"
|
|
#include "cartographer/mapping/map_builder_interface.h"
|
|
#include "cartographer/mapping/pose_graph_interface.h"
|
|
#include "cartographer/mapping/proto/serialization.pb.h"
|
|
#include "cartographer/sensor/data.h"
|
|
#include "cartographer/sensor/range_data.h"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace cloud {
|
|
|
|
class MapBuilderServer;
|
|
class MapBuilderContextInterface : public async_grpc::ExecutionContext {
|
|
public:
|
|
struct LocalSlamResult {
|
|
int trajectory_id;
|
|
common::Time time;
|
|
transform::Rigid3d local_pose;
|
|
std::shared_ptr<const sensor::RangeData> range_data;
|
|
std::unique_ptr<const mapping::TrajectoryBuilderInterface::InsertionResult>
|
|
insertion_result;
|
|
};
|
|
// Calling with 'nullptr' signals subscribers that the subscription has ended,
|
|
// e.g. this happens when the corresponding trajectory was finished and hence
|
|
// no more local SLAM updates will occur.
|
|
// The callback can return 'false' to indicate that the client is not
|
|
// interested in more local SLAM updates and 'MapBuilderServer' will end the
|
|
// subscription.
|
|
using LocalSlamSubscriptionCallback =
|
|
std::function<bool(std::unique_ptr<LocalSlamResult>)>;
|
|
|
|
// The callback can return 'false' to indicate that the client is not
|
|
// interested in more global SLAM runs and 'MapBuilderServer' will end the
|
|
// subscription.
|
|
using GlobalSlamOptimizationCallback = std::function<bool(
|
|
const std::map<int /* trajectory_id */, mapping::SubmapId>&,
|
|
const std::map<int /* trajectory_id */, mapping::NodeId>&)>;
|
|
|
|
struct Data {
|
|
int trajectory_id;
|
|
std::unique_ptr<sensor::Data> data;
|
|
};
|
|
struct LocalSlamSubscriptionId {
|
|
const int trajectory_id;
|
|
const int subscription_index;
|
|
};
|
|
|
|
MapBuilderContextInterface() = default;
|
|
~MapBuilderContextInterface() = default;
|
|
|
|
MapBuilderContextInterface(const MapBuilderContextInterface&) = delete;
|
|
MapBuilderContextInterface& operator=(const MapBuilderContextInterface&) =
|
|
delete;
|
|
|
|
virtual mapping::MapBuilderInterface& map_builder() = 0;
|
|
virtual common::BlockingQueue<std::unique_ptr<Data>>& sensor_data_queue() = 0;
|
|
virtual mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
|
|
GetLocalSlamResultCallbackForSubscriptions() = 0;
|
|
virtual void AddSensorDataToTrajectory(const Data& sensor_data) = 0;
|
|
virtual LocalSlamSubscriptionId SubscribeLocalSlamResults(
|
|
int trajectory_id, LocalSlamSubscriptionCallback callback) = 0;
|
|
virtual void UnsubscribeLocalSlamResults(
|
|
const LocalSlamSubscriptionId& subscription_id) = 0;
|
|
virtual int SubscribeGlobalSlamOptimizations(
|
|
GlobalSlamOptimizationCallback callback) = 0;
|
|
virtual void UnsubscribeGlobalSlamOptimizations(int subscription_index) = 0;
|
|
virtual void NotifyFinishTrajectory(int trajectory_id) = 0;
|
|
virtual LocalTrajectoryUploaderInterface* local_trajectory_uploader() = 0;
|
|
virtual void EnqueueSensorData(int trajectory_id,
|
|
std::unique_ptr<sensor::Data> data) = 0;
|
|
virtual void EnqueueLocalSlamResultData(
|
|
int trajectory_id, const std::string& sensor_id,
|
|
const mapping::proto::LocalSlamResultData& local_slam_result_data) = 0;
|
|
virtual void RegisterClientIdForTrajectory(const std::string& client_id,
|
|
int trajectory_id) = 0;
|
|
virtual bool CheckClientIdForTrajectory(const std::string& client_id,
|
|
int trajectory_id) = 0;
|
|
};
|
|
|
|
} // namespace cloud
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H
|