#include <map_builder_server.h>

Inheritance diagram for cartographer::cloud::MapBuilderServer:

Public Member Functions
	MapBuilderServer (const proto::MapBuilderServerOptions &map_builder_server_options, std::unique_ptr< mapping::MapBuilderInterface > map_builder)
void	Shutdown () final
void	Start () final
void	WaitForShutdown () final
void	WaitUntilIdle () final
	~MapBuilderServer ()
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Private Member Functions
std::map< int, LocalSlamResultHandlerSubscriptions > local_slam_subscriptions_	GUARDED_BY (subscriptions_lock_)
std::map< int, MapBuilderContextInterface::GlobalSlamOptimizationCallback > global_slam_subscriptions_	GUARDED_BY (subscriptions_lock_)
void	NotifyFinishTrajectory (int trajectory_id)
void	OnGlobalSlamOptimizations (const std::map< int, mapping::SubmapId > &last_optimized_submap_ids, const std::map< int, mapping::NodeId > &last_optimized_node_ids)
void	OnLocalSlamResult (int trajectory_id, const std::string client_id, common::Time time, transform::Rigid3d local_pose, sensor::RangeData range_data, std::unique_ptr< const mapping::TrajectoryBuilderInterface::InsertionResult > insertion_result)
void	ProcessSensorDataQueue ()
void	StartSlamThread ()
int	SubscribeGlobalSlamOptimizations (MapBuilderContextInterface::GlobalSlamOptimizationCallback callback)
MapBuilderContextInterface::LocalSlamSubscriptionId	SubscribeLocalSlamResults (int trajectory_id, MapBuilderContextInterface::LocalSlamSubscriptionCallback callback)
void	UnsubscribeGlobalSlamOptimizations (int subscription_index)
void	UnsubscribeLocalSlamResults (const MapBuilderContextInterface::LocalSlamSubscriptionId &subscription_id)
Private Attributes
int	current_subscription_index_ = 0
std::unique_ptr < async_grpc::Server >	grpc_server_
common::BlockingQueue < std::unique_ptr < MapBuilderContextInterface::Data > >	incoming_data_queue_
std::unique_ptr < LocalTrajectoryUploaderInterface >	local_trajectory_uploader_
std::unique_ptr < mapping::MapBuilderInterface >	map_builder_
bool	shutting_down_ = false
std::unique_ptr< std::thread >	slam_thread_
int	starting_submap_index_ = 0
absl::Mutex	subscriptions_lock_

Detailed Description

Definition at line 78 of file map_builder_server.h.

Constructor & Destructor Documentation

cartographer::cloud::MapBuilderServer::MapBuilderServer	(	const proto::MapBuilderServerOptions &	map_builder_server_options,
		std::unique_ptr< mapping::MapBuilderInterface >	map_builder
	)

Definition at line 58 of file map_builder_server.cc.

cartographer::cloud::MapBuilderServer::~MapBuilderServer ( ) [inline]

Definition at line 86 of file map_builder_server.h.

Member Function Documentation

std::map<int , LocalSlamResultHandlerSubscriptions> local_slam_subscriptions_ cartographer::cloud::MapBuilderServer::GUARDED_BY ( subscriptions_lock_ ) [private]

std::map<int , MapBuilderContextInterface::GlobalSlamOptimizationCallback> global_slam_subscriptions_ cartographer::cloud::MapBuilderServer::GUARDED_BY ( subscriptions_lock_ ) [private]

void cartographer::cloud::MapBuilderServer::NotifyFinishTrajectory ( int trajectory_id ) [private]

Definition at line 274 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::OnGlobalSlamOptimizations	(	const std::map< int, mapping::SubmapId > &	last_optimized_submap_ids,
		const std::map< int, mapping::NodeId > &	last_optimized_node_ids
	)		`[private]`

Definition at line 229 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::OnLocalSlamResult	(	int	trajectory_id,
		const std::string	client_id,
		common::Time	time,
		transform::Rigid3d	local_pose,
		sensor::RangeData	range_data,
		std::unique_ptr< const mapping::TrajectoryBuilderInterface::InsertionResult >	insertion_result
	)		`[private]`

Definition at line 178 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::ProcessSensorDataQueue ( ) [private]

Definition at line 157 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::RegisterMetrics ( metrics::FamilyFactory * family_factory ) [static]

Definition at line 289 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::Shutdown ( ) [virtual]

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 144 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::Start ( ) [virtual]

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 125 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::StartSlamThread ( ) [private]

Definition at line 170 of file map_builder_server.cc.

int cartographer::cloud::MapBuilderServer::SubscribeGlobalSlamOptimizations ( MapBuilderContextInterface::GlobalSlamOptimizationCallback callback ) [private]

Definition at line 261 of file map_builder_server.cc.

MapBuilderContextInterface::LocalSlamSubscriptionId cartographer::cloud::MapBuilderServer::SubscribeLocalSlamResults	(	int	trajectory_id,
		MapBuilderContextInterface::LocalSlamSubscriptionCallback	callback
	)		`[private]`

Definition at line 242 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::UnsubscribeGlobalSlamOptimizations ( int subscription_index ) [private]

Definition at line 268 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::UnsubscribeLocalSlamResults ( const MapBuilderContextInterface::LocalSlamSubscriptionId & subscription_id ) [private]

Definition at line 252 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::WaitForShutdown ( ) [virtual]

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 134 of file map_builder_server.cc.

void cartographer::cloud::MapBuilderServer::WaitUntilIdle ( ) [virtual]

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 284 of file map_builder_server.cc.