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 #include "cartographer/io/counting_points_processor.h" 00018 00019 #include "absl/memory/memory.h" 00020 #include "glog/logging.h" 00021 00022 namespace cartographer { 00023 namespace io { 00024 00025 CountingPointsProcessor::CountingPointsProcessor(PointsProcessor* next) 00026 : num_points_(0), next_(next) {} 00027 00028 std::unique_ptr<CountingPointsProcessor> 00029 CountingPointsProcessor::FromDictionary( 00030 common::LuaParameterDictionary* const dictionary, 00031 PointsProcessor* const next) { 00032 return absl::make_unique<CountingPointsProcessor>(next); 00033 } 00034 00035 void CountingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) { 00036 num_points_ += batch->points.size(); 00037 next_->Process(std::move(batch)); 00038 } 00039 00040 PointsProcessor::FlushResult CountingPointsProcessor::Flush() { 00041 switch (next_->Flush()) { 00042 case FlushResult::kFinished: 00043 LOG(INFO) << "Processed " << num_points_ << " and finishing."; 00044 return FlushResult::kFinished; 00045 00046 case FlushResult::kRestartStream: 00047 LOG(INFO) << "Processed " << num_points_ << " and restarting stream."; 00048 num_points_ = 0; 00049 return FlushResult::kRestartStream; 00050 } 00051 LOG(FATAL); 00052 } 00053 00054 } // namespace io 00055 } // namespace cartographer