80 lines
2.7 KiB
C++
Executable File
80 lines
2.7 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_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
|
|
#define CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
|
|
#include "absl/container/flat_hash_map.h"
|
|
#include "cartographer/metrics/counter.h"
|
|
#include "cartographer/metrics/family_factory.h"
|
|
#include "cartographer/sensor/collator_interface.h"
|
|
#include "cartographer/sensor/internal/ordered_multi_queue.h"
|
|
|
|
namespace cartographer {
|
|
namespace sensor {
|
|
|
|
// Waits to see at least one data item for all sensor ids and dispatches data
|
|
// in merge-sorted order. Contrary to 'Collator', it does not wait for other
|
|
// trajectories.
|
|
// Also contrary to 'Collator', whose output is deterministic, the sequence in
|
|
// which data is dispatched is not sorted, so non-deterministic input sequences
|
|
// will result in non-deterministic output.
|
|
class TrajectoryCollator : public CollatorInterface {
|
|
public:
|
|
TrajectoryCollator() {}
|
|
|
|
TrajectoryCollator(const TrajectoryCollator&) = delete;
|
|
TrajectoryCollator& operator=(const TrajectoryCollator&) = delete;
|
|
|
|
void AddTrajectory(
|
|
int trajectory_id,
|
|
const absl::flat_hash_set<std::string>& expected_sensor_ids,
|
|
const Callback& callback) override;
|
|
|
|
void FinishTrajectory(int trajectory_id) override;
|
|
|
|
void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) override;
|
|
|
|
void Flush() override;
|
|
|
|
absl::optional<int> GetBlockingTrajectoryId() const override;
|
|
|
|
static void RegisterMetrics(metrics::FamilyFactory* family_factory);
|
|
|
|
private:
|
|
metrics::Counter* GetOrCreateSensorMetric(const std::string& sensor_id,
|
|
int trajectory_id);
|
|
|
|
static cartographer::metrics::Family<metrics::Counter>*
|
|
collator_metrics_family_;
|
|
|
|
// Holds individual counters for each trajectory/sensor pair.
|
|
absl::flat_hash_map<std::string, metrics::Counter*> metrics_map_;
|
|
|
|
absl::flat_hash_map<int, OrderedMultiQueue> trajectory_to_queue_;
|
|
|
|
// Map of trajectory ID to all associated QueueKeys.
|
|
absl::flat_hash_map<int, std::vector<QueueKey>> trajectory_to_queue_keys_;
|
|
};
|
|
|
|
} // namespace sensor
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
|