Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017 #include "cartographer/cloud/internal/handlers/add_landmark_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/internal/dispatchable.h"
00025 #include "cartographer/sensor/landmark_data.h"
00026 #include "google/protobuf/empty.pb.h"
00027
00028 namespace cartographer {
00029 namespace cloud {
00030 namespace handlers {
00031
00032 void AddLandmarkDataHandler::OnSensorData(
00033 const proto::AddLandmarkDataRequest& request) {
00034
00035
00036
00037 GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
00038 request.sensor_metadata().trajectory_id(),
00039 sensor::MakeDispatchable(request.sensor_metadata().sensor_id(),
00040 sensor::FromProto(request.landmark_data())));
00041
00042
00043
00044
00045 if (GetUnsynchronizedContext<MapBuilderContextInterface>()
00046 ->local_trajectory_uploader()) {
00047 auto sensor_data = absl::make_unique<proto::SensorData>();
00048 *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
00049 *sensor_data->mutable_landmark_data() = request.landmark_data();
00050 GetUnsynchronizedContext<MapBuilderContextInterface>()
00051 ->local_trajectory_uploader()
00052 ->EnqueueSensorData(std::move(sensor_data));
00053 }
00054 }
00055
00056 }
00057 }
00058 }