Add load_frozen_state also to LoadStateFromFile gRPC requests. (#1423)

cartographer-project · Sep 13, 2018 · a21ecf9 · a21ecf9
1 parent 5cbe09f
commit a21ecf9
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Showing 8 changed files with 14 additions and 9 deletions.
diff --git a/cartographer/cloud/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc
@@ -197,10 +197,11 @@ std::map<int, int> MapBuilderStub::LoadState(
 }
 
 std::map<int, int> MapBuilderStub::LoadStateFromFile(
-    const std::string& filename) {
+    const std::string& filename, const bool load_frozen_state) {
   proto::LoadStateFromFileRequest request;
   request.set_file_path(filename);
   request.set_client_id(client_id_);
+  request.set_load_frozen_state(load_frozen_state);
   async_grpc::Client<handlers::LoadStateFromFileSignature> client(
       client_channel_);
   CHECK(client.Write(request));

diff --git a/cartographer/cloud/client/map_builder_stub.h b/cartographer/cloud/client/map_builder_stub.h
@@ -52,7 +52,8 @@ class MapBuilderStub : public mapping::MapBuilderInterface {
                       io::ProtoStreamWriterInterface* writer) override;
   std::map<int, int> LoadState(io::ProtoStreamReaderInterface* reader,
                                bool load_frozen_state) override;
-  std::map<int, int> LoadStateFromFile(const std::string& filename) override;
+  std::map<int, int> LoadStateFromFile(const std::string& filename,
+                                       bool load_frozen_state) override;
   int num_trajectory_builders() const override;
   mapping::PoseGraphInterface* pose_graph() override;
   const std::vector<mapping::proto::TrajectoryBuilderOptionsWithSensorIds>&

diff --git a/cartographer/cloud/internal/handlers/load_state_from_file_handler.cc b/cartographer/cloud/internal/handlers/load_state_from_file_handler.cc
@@ -32,7 +32,7 @@ void LoadStateFromFileHandler::OnRequest(
   // background.
   auto trajectory_remapping =
       GetContext<MapBuilderContextInterface>()->map_builder().LoadStateFromFile(
-          request.file_path());
+          request.file_path(), request.load_frozen_state());
   for (const auto& entry : trajectory_remapping) {
     GetContext<MapBuilderContextInterface>()->RegisterClientIdForTrajectory(
         request.client_id(), entry.second);

diff --git a/cartographer/cloud/proto/map_builder_service.proto b/cartographer/cloud/proto/map_builder_service.proto
@@ -161,6 +161,7 @@ message LoadStateResponse {
 message LoadStateFromFileRequest {
   string file_path = 1;
   string client_id = 2;
+  bool load_frozen_state = 3;
 }
 
 message LoadStateFromFileResponse {

diff --git a/cartographer/mapping/internal/testing/mock_map_builder.h b/cartographer/mapping/internal/testing/mock_map_builder.h
@@ -50,7 +50,8 @@ class MockMapBuilder : public mapping::MapBuilderInterface {
   MOCK_METHOD2(SerializeState, void(bool, io::ProtoStreamWriterInterface *));
   MOCK_METHOD2(LoadState,
                std::map<int, int>(io::ProtoStreamReaderInterface *, bool));
-  MOCK_METHOD1(LoadStateFromFile, std::map<int, int>(const std::string &));
+  MOCK_METHOD2(LoadStateFromFile,
+               std::map<int, int>(const std::string &, bool));
   MOCK_CONST_METHOD0(num_trajectory_builders, int());
   MOCK_METHOD0(pose_graph, mapping::PoseGraphInterface *());
   MOCK_CONST_METHOD0(

diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
@@ -391,7 +391,7 @@ std::map<int, int> MapBuilder::LoadState(
 }
 
 std::map<int, int> MapBuilder::LoadStateFromFile(
-    const std::string& state_filename) {
+    const std::string& state_filename, const bool load_frozen_state) {
   const std::string suffix = ".pbstream";
   if (state_filename.substr(
           std::max<int>(state_filename.size() - suffix.size(), 0)) != suffix) {
@@ -400,7 +400,7 @@ std::map<int, int> MapBuilder::LoadStateFromFile(
   }
   LOG(INFO) << "Loading saved state '" << state_filename << "'...";
   io::ProtoStreamReader stream(state_filename);
-  return LoadState(&stream, true);
+  return LoadState(&stream, load_frozen_state);
 }
 
 }  // namespace mapping

diff --git a/cartographer/mapping/map_builder.h b/cartographer/mapping/map_builder.h
@@ -62,7 +62,8 @@ class MapBuilder : public MapBuilderInterface {
   std::map<int, int> LoadState(io::ProtoStreamReaderInterface *reader,
                                bool load_frozen_state) override;
 
-  std::map<int, int> LoadStateFromFile(const std::string &filename) override;
+  std::map<int, int> LoadStateFromFile(const std::string &filename,
+                                       const bool load_frozen_state) override;
 
   mapping::PoseGraphInterface *pose_graph() override {
     return pose_graph_.get();

diff --git a/cartographer/mapping/map_builder_interface.h b/cartographer/mapping/map_builder_interface.h
@@ -89,10 +89,10 @@ class MapBuilderInterface {
   virtual std::map<int /* trajectory id in proto */, int /* trajectory id */>
   LoadState(io::ProtoStreamReaderInterface* reader, bool load_frozen_state) = 0;
 
-  // Loads the SLAM state froma a pbstream file. Returns the remapping of new
+  // Loads the SLAM state from a pbstream file. Returns the remapping of new
   // trajectory_ids.
   virtual std::map<int /* trajectory id in proto */, int /* trajectory id */>
-  LoadStateFromFile(const std::string& filename) = 0;
+  LoadStateFromFile(const std::string& filename, bool load_frozen_state) = 0;
 
   virtual int num_trajectory_builders() const = 0;