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Implement MapBuilderService.WriteStateToFile() (#1424)
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41 changes: 41 additions & 0 deletions
41
cartographer/cloud/internal/handlers/write_state_to_file_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. | ||
*/ | ||
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#include "cartographer/cloud/internal/handlers/write_state_to_file_handler.h" | ||
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#include "async_grpc/rpc_handler.h" | ||
#include "cartographer/cloud/internal/map_builder_context_interface.h" | ||
#include "cartographer/cloud/internal/map_builder_server.h" | ||
#include "cartographer/cloud/proto/map_builder_service.pb.h" | ||
#include "cartographer/io/proto_stream.h" | ||
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namespace cartographer { | ||
namespace cloud { | ||
namespace handlers { | ||
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void WriteStateToFileHandler::OnRequest( | ||
const proto::WriteStateToFileRequest& request) { | ||
if (request.filename().empty()) { | ||
Finish(::grpc::Status(::grpc::INVALID_ARGUMENT, "Filename empty.")); | ||
return; | ||
} | ||
GetContext<MapBuilderContextInterface>()->map_builder().SerializeStateToFile( | ||
/*include_unfinished_submaps=*/false, request.filename()); | ||
} | ||
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} // namespace handlers | ||
} // namespace cloud | ||
} // namespace cartographer |
43 changes: 43 additions & 0 deletions
43
cartographer/cloud/internal/handlers/write_state_to_file_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. | ||
*/ | ||
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#ifndef CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_TO_FILE_HANDLER_H | ||
#define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_TO_FILE_HANDLER_H | ||
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#include "async_grpc/rpc_handler.h" | ||
#include "cartographer/cloud/proto/map_builder_service.pb.h" | ||
#include "google/protobuf/empty.pb.h" | ||
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namespace cartographer { | ||
namespace cloud { | ||
namespace handlers { | ||
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DEFINE_HANDLER_SIGNATURE( | ||
WriteStateToFileSignature, proto::WriteStateToFileRequest, | ||
google::protobuf::Empty, | ||
"/cartographer.cloud.proto.MapBuilderService/WriteStateToFile") | ||
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class WriteStateToFileHandler | ||
: public async_grpc::RpcHandler<WriteStateToFileSignature> { | ||
public: | ||
void OnRequest(const proto::WriteStateToFileRequest& request) override; | ||
}; | ||
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} // namespace handlers | ||
} // namespace cloud | ||
} // namespace cartographer | ||
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#endif // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_WRITE_STATE_TO_FILE_HANDLER_H |
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