receive_global_slam_optimizations_handler.h

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/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H

#include <memory>

#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/map_builder_context_interface.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"

namespace cartographer {
namespace cloud {
namespace handlers {

DEFINE_HANDLER_SIGNATURE(
    ReceiveGlobalSlamOptimizationsSignature, google::protobuf::Empty,
    async_grpc::Stream<proto::ReceiveGlobalSlamOptimizationsResponse>,
    "/cartographer.cloud.proto.MapBuilderService/"
    "ReceiveGlobalSlamOptimizations")

class ReceiveGlobalSlamOptimizationsHandler
    : public async_grpc::RpcHandler<ReceiveGlobalSlamOptimizationsSignature> {
 public:
  void OnRequest(const google::protobuf::Empty &request) override;
  void OnFinish() override;

 private:
  absl::optional<int> subscription_index_;
};

}  // namespace handlers
}  // namespace cloud
}  // namespace cartographer

#endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_RECEIVE_GLOBAL_SLAM_OPTIMIZATIONS_HANDLER_H