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00017 #ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
00018 #define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H
00019
00020 #include <memory>
00021
00022 #include "async_grpc/rpc_handler.h"
00023 #include "cartographer/cloud/internal/map_builder_context_interface.h"
00024 #include "cartographer/cloud/proto/map_builder_service.pb.h"
00025
00026 namespace cartographer {
00027 namespace cloud {
00028 namespace handlers {
00029
00030 DEFINE_HANDLER_SIGNATURE(
00031 ReceiveLocalSlamResultsSignature, proto::ReceiveLocalSlamResultsRequest,
00032 async_grpc::Stream<proto::ReceiveLocalSlamResultsResponse>,
00033 "/cartographer.cloud.proto.MapBuilderService/ReceiveLocalSlamResults")
00034
00035 class ReceiveLocalSlamResultsHandler
00036 : public async_grpc::RpcHandler<ReceiveLocalSlamResultsSignature> {
00037 public:
00038 void OnRequest(const proto::ReceiveLocalSlamResultsRequest& request) override;
00039 void OnFinish() override;
00040
00041 private:
00042 std::unique_ptr<MapBuilderContextInterface::LocalSlamSubscriptionId>
00043 subscription_id_;
00044 };
00045
00046 }
00047 }
00048 }
00049
00050 #endif // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_LOCAL_SLAM_RESULTS_HANDLER_H