finish_trajectory_handler.cc

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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.
 */

#include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h"

#include "async_grpc/rpc_handler.h"
#include "cartographer/cloud/internal/map_builder_context_interface.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "cartographer/common/make_unique.h"
#include "google/protobuf/empty.pb.h"

namespace cartographer {
namespace cloud {
namespace handlers {

void FinishTrajectoryHandler::OnRequest(
    const proto::FinishTrajectoryRequest& request) {
  GetContext<MapBuilderContextInterface>()->map_builder().FinishTrajectory(
      request.trajectory_id());
  GetUnsynchronizedContext<MapBuilderContextInterface>()
      ->NotifyFinishTrajectory(request.trajectory_id());
  if (GetUnsynchronizedContext<MapBuilderContextInterface>()
          ->local_trajectory_uploader()) {
    GetContext<MapBuilderContextInterface>()
        ->local_trajectory_uploader()
        ->FinishTrajectory(request.trajectory_id());
  }
  Send(common::make_unique<google::protobuf::Empty>());
}

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