add_imu_data_handler.cc
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1 /*
2  * Copyright 2018 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
18 
19 #include "async_grpc/rpc_handler.h"
22 #include "cartographer/cloud/proto/map_builder_service.pb.h"
26 #include "google/protobuf/empty.pb.h"
27 
28 namespace cartographer {
29 namespace cloud {
30 namespace handlers {
31 
32 void AddImuDataHandler::OnRequest(const proto::AddImuDataRequest &request) {
33  // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
34  // thread-safe. Therefore it suffices to get an unsynchronized reference to
35  // the 'MapBuilderContext'.
36  GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
37  request.sensor_metadata().trajectory_id(),
38  sensor::MakeDispatchable(request.sensor_metadata().sensor_id(),
39  sensor::FromProto(request.imu_data())));
40 
41  // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
42  // Therefore it suffices to get an unsynchronized reference to the
43  // 'MapBuilderContext'.
44  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
45  ->local_trajectory_uploader()) {
46  auto sensor_data = common::make_unique<proto::SensorData>();
47  *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
48  *sensor_data->mutable_imu_data() = request.imu_data();
49  GetUnsynchronizedContext<MapBuilderContextInterface>()
50  ->local_trajectory_uploader()
51  ->EnqueueSensorData(std::move(sensor_data));
52  }
53 }
54 
55 void AddImuDataHandler::OnReadsDone() {
56  Send(common::make_unique<google::protobuf::Empty>());
57 }
58 
59 } // namespace handlers
60 } // namespace cloud
61 } // namespace cartographer
FixedFramePoseData FromProto(const proto::FixedFramePoseData &proto)
std::unique_ptr< Dispatchable< DataType > > MakeDispatchable(const std::string &sensor_id, const DataType &data)
Definition: dispatchable.h:44


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:58