map_builder_context_interface.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_MAP_BUILDER_CONTEXT_INTERFACE_H
#define CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H

#include "async_grpc/execution_context.h"
#include "cartographer/cloud/internal/local_trajectory_uploader.h"
#include "cartographer/common/blocking_queue.h"
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/sensor/data.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h"

namespace cartographer {
namespace cloud {

class MapBuilderServer;
class MapBuilderContextInterface : public async_grpc::ExecutionContext {
 public:
  struct LocalSlamResult {
    int trajectory_id;
    common::Time time;
    transform::Rigid3d local_pose;
    std::shared_ptr<const sensor::RangeData> range_data;
    std::unique_ptr<const mapping::TrajectoryBuilderInterface::InsertionResult>
        insertion_result;
  };
  // Calling with 'nullptr' signals subscribers that the subscription has ended,
  // e.g. this happens when the corresponding trajectory was finished and hence
  // no more local SLAM updates will occur.
  // The callback can return 'false' to indicate that the client is not
  // interested in more local SLAM updates and 'MapBuilderServer' will end the
  // subscription.
  using LocalSlamSubscriptionCallback =
      std::function<bool(std::unique_ptr<LocalSlamResult>)>;

  // The callback can return 'false' to indicate that the client is not
  // interested in more global SLAM runs and 'MapBuilderServer' will end the
  // subscription.
  using GlobalSlamOptimizationCallback = std::function<bool(
      const std::map<int /* trajectory_id */, mapping::SubmapId>&,
      const std::map<int /* trajectory_id */, mapping::NodeId>&)>;

  struct Data {
    int trajectory_id;
    std::unique_ptr<sensor::Data> data;
  };
  struct LocalSlamSubscriptionId {
    const int trajectory_id;
    const int subscription_index;
  };

  MapBuilderContextInterface() = default;
  ~MapBuilderContextInterface() = default;

  MapBuilderContextInterface(const MapBuilderContextInterface&) = delete;
  MapBuilderContextInterface& operator=(const MapBuilderContextInterface&) =
      delete;

  virtual mapping::MapBuilderInterface& map_builder() = 0;
  virtual common::BlockingQueue<std::unique_ptr<Data>>& sensor_data_queue() = 0;
  virtual mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
  GetLocalSlamResultCallbackForSubscriptions() = 0;
  virtual void AddSensorDataToTrajectory(const Data& sensor_data) = 0;
  virtual LocalSlamSubscriptionId SubscribeLocalSlamResults(
      int trajectory_id, LocalSlamSubscriptionCallback callback) = 0;
  virtual void UnsubscribeLocalSlamResults(
      const LocalSlamSubscriptionId& subscription_id) = 0;
  virtual int SubscribeGlobalSlamOptimizations(
      GlobalSlamOptimizationCallback callback) = 0;
  virtual void UnsubscribeGlobalSlamOptimizations(int subscription_index) = 0;
  virtual void NotifyFinishTrajectory(int trajectory_id) = 0;
  virtual LocalTrajectoryUploaderInterface* local_trajectory_uploader() = 0;
  virtual void EnqueueSensorData(int trajectory_id,
                                 std::unique_ptr<sensor::Data> data) = 0;
  virtual void EnqueueLocalSlamResultData(
      int trajectory_id, const std::string& sensor_id,
      const mapping::proto::LocalSlamResultData& local_slam_result_data) = 0;
};

}  // namespace cloud
}  // namespace cartographer

#endif  // CARTOGRAPHER_CLOUD_MAP_BUILDER_CONTEXT_INTERFACE_H