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00017 #include "cartographer/cloud/map_builder_server_options.h"
00018
00019 #include "absl/memory/memory.h"
00020 #include "cartographer/common/configuration_file_resolver.h"
00021 #include "cartographer/mapping/map_builder.h"
00022
00023 namespace cartographer {
00024 namespace cloud {
00025
00026 proto::MapBuilderServerOptions CreateMapBuilderServerOptions(
00027 common::LuaParameterDictionary* lua_parameter_dictionary) {
00028 proto::MapBuilderServerOptions map_builder_server_options;
00029 map_builder_server_options.set_server_address(
00030 lua_parameter_dictionary->GetString("server_address"));
00031 map_builder_server_options.set_num_grpc_threads(
00032 lua_parameter_dictionary->GetInt("num_grpc_threads"));
00033 map_builder_server_options.set_num_event_threads(
00034 lua_parameter_dictionary->GetInt("num_event_threads"));
00035 *map_builder_server_options.mutable_map_builder_options() =
00036 mapping::CreateMapBuilderOptions(
00037 lua_parameter_dictionary->GetDictionary("map_builder").get());
00038 map_builder_server_options.set_uplink_server_address(
00039 lua_parameter_dictionary->GetString("uplink_server_address"));
00040 map_builder_server_options.set_upload_batch_size(
00041 lua_parameter_dictionary->GetInt("upload_batch_size"));
00042 map_builder_server_options.set_enable_ssl_encryption(
00043 lua_parameter_dictionary->GetBool("enable_ssl_encryption"));
00044 map_builder_server_options.set_enable_google_auth(
00045 lua_parameter_dictionary->GetBool("enable_google_auth"));
00046 return map_builder_server_options;
00047 }
00048
00049 proto::MapBuilderServerOptions LoadMapBuilderServerOptions(
00050 const std::string& configuration_directory,
00051 const std::string& configuration_basename) {
00052 auto file_resolver = absl::make_unique<common::ConfigurationFileResolver>(
00053 std::vector<std::string>{configuration_directory});
00054 const std::string code =
00055 file_resolver->GetFileContentOrDie(configuration_basename);
00056 common::LuaParameterDictionary lua_parameter_dictionary(
00057 code, std::move(file_resolver));
00058 return CreateMapBuilderServerOptions(&lua_parameter_dictionary);
00059 }
00060
00061 }
00062 }