00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #ifndef CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_ 00018 #define CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_ 00019 00020 #include <functional> 00021 #include <memory> 00022 #include <vector> 00023 00024 #include "absl/container/flat_hash_map.h" 00025 #include "absl/container/flat_hash_set.h" 00026 #include "cartographer/sensor/collator_interface.h" 00027 #include "cartographer/sensor/data.h" 00028 #include "cartographer/sensor/internal/ordered_multi_queue.h" 00029 00030 namespace cartographer { 00031 namespace sensor { 00032 00033 class Collator : public CollatorInterface { 00034 public: 00035 Collator() {} 00036 00037 Collator(const Collator&) = delete; 00038 Collator& operator=(const Collator&) = delete; 00039 00040 void AddTrajectory( 00041 int trajectory_id, 00042 const absl::flat_hash_set<std::string>& expected_sensor_ids, 00043 const Callback& callback) override; 00044 00045 void FinishTrajectory(int trajectory_id) override; 00046 00047 void AddSensorData(int trajectory_id, std::unique_ptr<Data> data) override; 00048 00049 void Flush() override; 00050 00051 absl::optional<int> GetBlockingTrajectoryId() const override; 00052 00053 private: 00054 // Queue keys are a pair of trajectory ID and sensor identifier. 00055 OrderedMultiQueue queue_; 00056 00057 // Map of trajectory ID to all associated QueueKeys. 00058 absl::flat_hash_map<int, std::vector<QueueKey>> queue_keys_; 00059 }; 00060 00061 } // namespace sensor 00062 } // namespace cartographer 00063 00064 #endif // CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_