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00017 #include "cartographer/cloud/internal/handlers/add_imu_data_handler.h"
00018
00019 #include "absl/memory/memory.h"
00020 #include "async_grpc/rpc_handler.h"
00021 #include "cartographer/cloud/internal/map_builder_context_interface.h"
00022 #include "cartographer/cloud/internal/sensor/serialization.h"
00023 #include "cartographer/cloud/proto/map_builder_service.pb.h"
00024 #include "cartographer/sensor/imu_data.h"
00025 #include "cartographer/sensor/internal/dispatchable.h"
00026 #include "google/protobuf/empty.pb.h"
00027
00028 namespace cartographer {
00029 namespace cloud {
00030 namespace handlers {
00031
00032 void AddImuDataHandler::OnSensorData(const proto::AddImuDataRequest& request) {
00033
00034
00035
00036 GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
00037 request.sensor_metadata().trajectory_id(),
00038 sensor::MakeDispatchable(request.sensor_metadata().sensor_id(),
00039 sensor::FromProto(request.imu_data())));
00040
00041
00042
00043
00044 if (GetUnsynchronizedContext<MapBuilderContextInterface>()
00045 ->local_trajectory_uploader()) {
00046 auto sensor_data = absl::make_unique<proto::SensorData>();
00047 *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
00048 *sensor_data->mutable_imu_data() = request.imu_data();
00049 GetUnsynchronizedContext<MapBuilderContextInterface>()
00050 ->local_trajectory_uploader()
00051 ->EnqueueSensorData(std::move(sensor_data));
00052 }
00053 }
00054
00055 }
00056 }
00057 }