From b79e5b8e29e20c66a5bf1fa69c4788e21796c790 Mon Sep 17 00:00:00 2001 From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com> Date: Fri, 2 Mar 2018 14:16:49 +0100 Subject: [PATCH] Move framework/, sensor/, testing/ to internal/. (#954) [Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md) Added `map_builder_server_interface.h/cc` to hide `framework/*.h`. --- cartographer_grpc/client/map_builder_stub.cc | 2 +- .../internal/client/pose_graph_stub.cc | 2 +- .../client/trajectory_builder_stub.cc | 2 +- .../internal/client/trajectory_builder_stub.h | 2 +- .../{ => internal}/client_server_test.cc | 6 +-- .../{ => internal}/framework/client.h | 12 ++--- .../framework/completion_queue_thread.cc | 2 +- .../framework/completion_queue_thread.h | 0 .../framework/event_queue_thread.cc | 2 +- .../framework/event_queue_thread.h | 8 +-- .../framework/execution_context.h | 6 +-- .../framework/proto/math_service.proto | 0 .../{ => internal}/framework/retry.cc | 2 +- .../{ => internal}/framework/retry.h | 6 +-- .../{ => internal}/framework/rpc.cc | 4 +- .../{ => internal}/framework/rpc.h | 10 ++-- .../{ => internal}/framework/rpc_handler.h | 14 ++--- .../framework/rpc_handler_interface.h | 8 +-- .../{ => internal}/framework/server.cc | 2 +- .../{ => internal}/framework/server.h | 16 +++--- .../{ => internal}/framework/server_test.cc | 10 ++-- .../{ => internal}/framework/service.cc | 2 +- .../{ => internal}/framework/service.h | 16 +++--- .../testing/rpc_handler_test_server.h | 14 ++--- .../framework/testing/rpc_handler_wrapper.h | 6 +-- .../{ => internal}/framework/type_traits.h | 6 +-- .../framework/type_traits_test.cc | 2 +- .../add_fixed_frame_pose_data_handler.cc | 6 +-- .../add_fixed_frame_pose_data_handler.h | 2 +- .../add_fixed_frame_pose_data_handler_test.cc | 4 +- .../internal/handlers/add_imu_data_handler.cc | 6 +-- .../internal/handlers/add_imu_data_handler.h | 2 +- .../handlers/add_imu_data_handler_test.cc | 4 +- .../handlers/add_landmark_data_handler.cc | 6 +-- .../handlers/add_landmark_data_handler.h | 2 +- .../add_landmark_data_handler_test.cc | 4 +- .../add_local_slam_result_data_handler.cc | 4 +- .../add_local_slam_result_data_handler.h | 2 +- .../handlers/add_odometry_data_handler.cc | 6 +-- .../handlers/add_odometry_data_handler.h | 2 +- .../add_odometry_data_handler_test.cc | 4 +- .../handlers/add_rangefinder_data_handler.cc | 4 +- .../handlers/add_rangefinder_data_handler.h | 2 +- .../add_rangefinder_data_handler_test.cc | 4 +- .../handlers/add_trajectory_handler.cc | 6 +-- .../handlers/add_trajectory_handler.h | 2 +- .../handlers/add_trajectory_handler_test.cc | 8 +-- .../handlers/finish_trajectory_handler.cc | 4 +- .../handlers/finish_trajectory_handler.h | 2 +- .../internal/handlers/get_all_submap_poses.cc | 4 +- .../internal/handlers/get_all_submap_poses.h | 2 +- .../handlers/get_constraints_handler.cc | 4 +- .../handlers/get_constraints_handler.h | 2 +- .../handlers/get_landmark_poses_handler.cc | 4 +- .../handlers/get_landmark_poses_handler.h | 2 +- .../get_landmark_poses_handler_test.cc | 4 +- .../get_local_to_global_transform_handler.cc | 4 +- .../get_local_to_global_transform_handler.h | 2 +- .../internal/handlers/get_submap_handler.cc | 4 +- .../internal/handlers/get_submap_handler.h | 2 +- .../get_trajectory_node_poses_handler.cc | 4 +- .../get_trajectory_node_poses_handler.h | 2 +- .../internal/handlers/load_state_handler.cc | 4 +- .../internal/handlers/load_state_handler.h | 2 +- .../receive_local_slam_results_handler.cc | 4 +- .../receive_local_slam_results_handler.h | 4 +- .../run_final_optimization_handler.cc | 4 +- .../handlers/run_final_optimization_handler.h | 2 +- .../internal/handlers/write_state_handler.cc | 6 +-- .../internal/handlers/write_state_handler.h | 2 +- .../local_trajectory_uploader.cc | 6 +-- .../local_trajectory_uploader.h | 0 .../{ => internal}/map_builder_context.cc | 5 +- .../{ => internal}/map_builder_context.h | 2 +- .../map_builder_context_interface.h | 4 +- .../{ => internal}/map_builder_server.cc | 4 +- .../{ => internal}/map_builder_server.h | 20 +++---- .../{ => internal}/sensor/serialization.cc | 2 +- .../{ => internal}/sensor/serialization.h | 6 +-- .../{ => internal}/testing/handler_test.h | 16 +++--- .../testing/mock_local_trajectory_uploader.h | 8 +-- .../{ => internal}/testing/mock_map_builder.h | 6 +-- .../testing/mock_map_builder_context.h | 8 +-- .../{ => internal}/testing/mock_pose_graph.h | 6 +-- .../testing/mock_trajectory_builder.h | 6 +-- .../{ => internal}/testing/test_helpers.cc | 2 +- .../{ => internal}/testing/test_helpers.h | 6 +-- .../map_builder_server_interface.cc | 15 ++++++ .../map_builder_server_interface.h | 54 +++++++++++++++++++ cartographer_grpc/map_builder_server_main.cc | 12 +++-- 90 files changed, 289 insertions(+), 215 deletions(-) rename cartographer_grpc/{ => internal}/client_server_test.cc (98%) rename cartographer_grpc/{ => internal}/framework/client.h (95%) rename cartographer_grpc/{ => internal}/framework/completion_queue_thread.cc (95%) rename cartographer_grpc/{ => internal}/framework/completion_queue_thread.h (100%) rename cartographer_grpc/{ => internal}/framework/event_queue_thread.cc (95%) rename cartographer_grpc/{ => internal}/framework/event_queue_thread.h (81%) rename cartographer_grpc/{ => internal}/framework/execution_context.h (91%) rename cartographer_grpc/{ => internal}/framework/proto/math_service.proto (100%) rename cartographer_grpc/{ => internal}/framework/retry.cc (98%) rename cartographer_grpc/{ => internal}/framework/retry.h (91%) rename cartographer_grpc/{ => internal}/framework/rpc.cc (99%) rename cartographer_grpc/{ => internal}/framework/rpc.h (95%) rename cartographer_grpc/{ => internal}/framework/rpc_handler.h (85%) rename cartographer_grpc/{ => internal}/framework/rpc_handler_interface.h (88%) rename cartographer_grpc/{ => internal}/framework/server.cc (99%) rename cartographer_grpc/{ => internal}/framework/server.h (93%) rename cartographer_grpc/{ => internal}/framework/server_test.cc (96%) rename cartographer_grpc/{ => internal}/framework/service.cc (98%) rename cartographer_grpc/{ => internal}/framework/service.h (79%) rename cartographer_grpc/{ => internal}/framework/testing/rpc_handler_test_server.h (90%) rename cartographer_grpc/{ => internal}/framework/testing/rpc_handler_wrapper.h (86%) rename cartographer_grpc/{ => internal}/framework/type_traits.h (92%) rename cartographer_grpc/{ => internal}/framework/type_traits_test.cc (95%) rename cartographer_grpc/{ => internal}/local_trajectory_uploader.cc (98%) rename cartographer_grpc/{ => internal}/local_trajectory_uploader.h (100%) rename cartographer_grpc/{ => internal}/map_builder_context.cc (98%) rename cartographer_grpc/{ => internal}/map_builder_context.h (97%) rename cartographer_grpc/{ => internal}/map_builder_context_interface.h (96%) rename cartographer_grpc/{ => internal}/map_builder_server.cc (98%) rename cartographer_grpc/{ => internal}/map_builder_server.h (87%) rename cartographer_grpc/{ => internal}/sensor/serialization.cc (98%) rename cartographer_grpc/{ => internal}/sensor/serialization.h (94%) rename cartographer_grpc/{ => internal}/testing/handler_test.h (84%) rename cartographer_grpc/{ => internal}/testing/mock_local_trajectory_uploader.h (82%) rename cartographer_grpc/{ => internal}/testing/mock_map_builder.h (92%) rename cartographer_grpc/{ => internal}/testing/mock_map_builder_context.h (92%) rename cartographer_grpc/{ => internal}/testing/mock_pose_graph.h (92%) rename cartographer_grpc/{ => internal}/testing/mock_trajectory_builder.h (90%) rename cartographer_grpc/{ => internal}/testing/test_helpers.cc (98%) rename cartographer_grpc/{ => internal}/testing/test_helpers.h (91%) create mode 100644 cartographer_grpc/map_builder_server_interface.cc create mode 100644 cartographer_grpc/map_builder_server_interface.h diff --git a/cartographer_grpc/client/map_builder_stub.cc b/cartographer_grpc/client/map_builder_stub.cc index 9381ccd..13b436a 100644 --- a/cartographer_grpc/client/map_builder_stub.cc +++ b/cartographer_grpc/client/map_builder_stub.cc @@ -23,8 +23,8 @@ #include "cartographer_grpc/internal/handlers/get_submap_handler.h" #include "cartographer_grpc/internal/handlers/load_state_handler.h" #include "cartographer_grpc/internal/handlers/write_state_handler.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "glog/logging.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/client/pose_graph_stub.cc b/cartographer_grpc/internal/client/pose_graph_stub.cc index d923110..c4ca39d 100644 --- a/cartographer_grpc/internal/client/pose_graph_stub.cc +++ b/cartographer_grpc/internal/client/pose_graph_stub.cc @@ -16,7 +16,7 @@ #include "cartographer_grpc/internal/client/pose_graph_stub.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/framework/client.h" +#include "cartographer_grpc/internal/framework/client.h" #include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" #include "cartographer_grpc/internal/handlers/get_constraints_handler.h" #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" diff --git a/cartographer_grpc/internal/client/trajectory_builder_stub.cc b/cartographer_grpc/internal/client/trajectory_builder_stub.cc index 9351d50..5d16be3 100644 --- a/cartographer_grpc/internal/client/trajectory_builder_stub.cc +++ b/cartographer_grpc/internal/client/trajectory_builder_stub.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/client/trajectory_builder_stub.h" #include "cartographer/mapping/local_slam_result_data.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "glog/logging.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/client/trajectory_builder_stub.h b/cartographer_grpc/internal/client/trajectory_builder_stub.h index b4e019c..54009ef 100644 --- a/cartographer_grpc/internal/client/trajectory_builder_stub.h +++ b/cartographer_grpc/internal/client/trajectory_builder_stub.h @@ -21,7 +21,7 @@ #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_builder_interface.h" -#include "cartographer_grpc/framework/client.h" +#include "cartographer_grpc/internal/framework/client.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" diff --git a/cartographer_grpc/client_server_test.cc b/cartographer_grpc/internal/client_server_test.cc similarity index 98% rename from cartographer_grpc/client_server_test.cc rename to cartographer_grpc/internal/client_server_test.cc index fba69b3..8040ab5 100644 --- a/cartographer_grpc/client_server_test.cc +++ b/cartographer_grpc/internal/client_server_test.cc @@ -20,10 +20,10 @@ #include "cartographer/mapping/internal/test_helpers.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer_grpc/client/map_builder_stub.h" -#include "cartographer_grpc/map_builder_server.h" +#include "cartographer_grpc/internal/map_builder_server.h" +#include "cartographer_grpc/internal/testing/mock_map_builder.h" +#include "cartographer_grpc/internal/testing/mock_trajectory_builder.h" #include "cartographer_grpc/map_builder_server_options.h" -#include "cartographer_grpc/testing/mock_map_builder.h" -#include "cartographer_grpc/testing/mock_trajectory_builder.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/framework/client.h b/cartographer_grpc/internal/framework/client.h similarity index 95% rename from cartographer_grpc/framework/client.h rename to cartographer_grpc/internal/framework/client.h index 03e3822..5d5f048 100644 --- a/cartographer_grpc/framework/client.h +++ b/cartographer_grpc/internal/framework/client.h @@ -14,12 +14,12 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H -#include "cartographer_grpc/framework/retry.h" -#include "cartographer_grpc/framework/rpc_handler_interface.h" -#include "cartographer_grpc/framework/type_traits.h" +#include "cartographer_grpc/internal/framework/retry.h" +#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" +#include "cartographer_grpc/internal/framework/type_traits.h" #include "glog/logging.h" #include "grpc++/grpc++.h" #include "grpc++/impl/codegen/client_unary_call.h" @@ -200,4 +200,4 @@ class Client { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H diff --git a/cartographer_grpc/framework/completion_queue_thread.cc b/cartographer_grpc/internal/framework/completion_queue_thread.cc similarity index 95% rename from cartographer_grpc/framework/completion_queue_thread.cc rename to cartographer_grpc/internal/framework/completion_queue_thread.cc index cd9b43a..f44e8cd 100644 --- a/cartographer_grpc/framework/completion_queue_thread.cc +++ b/cartographer_grpc/internal/framework/completion_queue_thread.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/completion_queue_thread.h" +#include "cartographer_grpc/internal/framework/completion_queue_thread.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/framework/completion_queue_thread.h b/cartographer_grpc/internal/framework/completion_queue_thread.h similarity index 100% rename from cartographer_grpc/framework/completion_queue_thread.h rename to cartographer_grpc/internal/framework/completion_queue_thread.h diff --git a/cartographer_grpc/framework/event_queue_thread.cc b/cartographer_grpc/internal/framework/event_queue_thread.cc similarity index 95% rename from cartographer_grpc/framework/event_queue_thread.cc rename to cartographer_grpc/internal/framework/event_queue_thread.cc index f4ac275..b722df9 100644 --- a/cartographer_grpc/framework/event_queue_thread.cc +++ b/cartographer_grpc/internal/framework/event_queue_thread.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/event_queue_thread.h" +#include "cartographer_grpc/internal/framework/event_queue_thread.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/framework/event_queue_thread.h b/cartographer_grpc/internal/framework/event_queue_thread.h similarity index 81% rename from cartographer_grpc/framework/event_queue_thread.h rename to cartographer_grpc/internal/framework/event_queue_thread.h index 0f497b9..ecd1de9 100644 --- a/cartographer_grpc/framework/event_queue_thread.h +++ b/cartographer_grpc/internal/framework/event_queue_thread.h @@ -14,14 +14,14 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H #include #include #include "cartographer/common/blocking_queue.h" -#include "cartographer_grpc/framework/rpc.h" +#include "cartographer_grpc/internal/framework/rpc.h" namespace cartographer_grpc { namespace framework { @@ -45,4 +45,4 @@ class EventQueueThread { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_EVENT_QUEUE_THREAD_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EVENT_QUEUE_THREAD_H diff --git a/cartographer_grpc/framework/execution_context.h b/cartographer_grpc/internal/framework/execution_context.h similarity index 91% rename from cartographer_grpc/framework/execution_context.h rename to cartographer_grpc/internal/framework/execution_context.h index e50c0b8..d21e62a 100644 --- a/cartographer_grpc/framework/execution_context.h +++ b/cartographer_grpc/internal/framework/execution_context.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H #include "cartographer/common/mutex.h" #include "glog/logging.h" @@ -62,4 +62,4 @@ class ExecutionContext { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_EXECUTION_CONTEXT_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_EXECUTION_CONTEXT_H diff --git a/cartographer_grpc/framework/proto/math_service.proto b/cartographer_grpc/internal/framework/proto/math_service.proto similarity index 100% rename from cartographer_grpc/framework/proto/math_service.proto rename to cartographer_grpc/internal/framework/proto/math_service.proto diff --git a/cartographer_grpc/framework/retry.cc b/cartographer_grpc/internal/framework/retry.cc similarity index 98% rename from cartographer_grpc/framework/retry.cc rename to cartographer_grpc/internal/framework/retry.cc index dc962fe..637bf10 100644 --- a/cartographer_grpc/framework/retry.cc +++ b/cartographer_grpc/internal/framework/retry.cc @@ -17,7 +17,7 @@ #include #include -#include "cartographer_grpc/framework/retry.h" +#include "cartographer_grpc/internal/framework/retry.h" #include "glog/logging.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/framework/retry.h b/cartographer_grpc/internal/framework/retry.h similarity index 91% rename from cartographer_grpc/framework/retry.h rename to cartographer_grpc/internal/framework/retry.h index 33182af..8e6e32c 100644 --- a/cartographer_grpc/framework/retry.h +++ b/cartographer_grpc/internal/framework/retry.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H #include "cartographer/common/optional.h" #include "cartographer/common/time.h" @@ -48,4 +48,4 @@ bool RetryWithStrategy(RetryStrategy retry_strategy, std::function op, } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RETRY_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RETRY_H diff --git a/cartographer_grpc/framework/rpc.cc b/cartographer_grpc/internal/framework/rpc.cc similarity index 99% rename from cartographer_grpc/framework/rpc.cc rename to cartographer_grpc/internal/framework/rpc.cc index e96640e..5c1a941 100644 --- a/cartographer_grpc/framework/rpc.cc +++ b/cartographer_grpc/internal/framework/rpc.cc @@ -14,8 +14,8 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/rpc.h" -#include "cartographer_grpc/framework/service.h" +#include "cartographer_grpc/internal/framework/rpc.h" +#include "cartographer_grpc/internal/framework/service.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/framework/rpc.h b/cartographer_grpc/internal/framework/rpc.h similarity index 95% rename from cartographer_grpc/framework/rpc.h rename to cartographer_grpc/internal/framework/rpc.h index 3843dda..69201c7 100644 --- a/cartographer_grpc/framework/rpc.h +++ b/cartographer_grpc/internal/framework/rpc.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H #include #include @@ -23,8 +23,8 @@ #include "cartographer/common/blocking_queue.h" #include "cartographer/common/mutex.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/rpc_handler_interface.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" #include "grpc++/impl/codegen/async_stream.h" @@ -208,4 +208,4 @@ class ActiveRpcs { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_H diff --git a/cartographer_grpc/framework/rpc_handler.h b/cartographer_grpc/internal/framework/rpc_handler.h similarity index 85% rename from cartographer_grpc/framework/rpc_handler.h rename to cartographer_grpc/internal/framework/rpc_handler.h index f72de25..c2d2bfc 100644 --- a/cartographer_grpc/framework/rpc_handler.h +++ b/cartographer_grpc/internal/framework/rpc_handler.h @@ -14,13 +14,13 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/rpc.h" -#include "cartographer_grpc/framework/rpc_handler_interface.h" -#include "cartographer_grpc/framework/type_traits.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/rpc.h" +#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" +#include "cartographer_grpc/internal/framework/type_traits.h" #include "glog/logging.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" @@ -88,4 +88,4 @@ class RpcHandler : public RpcHandlerInterface { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H diff --git a/cartographer_grpc/framework/rpc_handler_interface.h b/cartographer_grpc/internal/framework/rpc_handler_interface.h similarity index 88% rename from cartographer_grpc/framework/rpc_handler_interface.h rename to cartographer_grpc/internal/framework/rpc_handler_interface.h index 1c6a5ff..0c81dd1 100644 --- a/cartographer_grpc/framework/rpc_handler_interface.h +++ b/cartographer_grpc/internal/framework/rpc_handler_interface.h @@ -14,11 +14,11 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/execution_context.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" @@ -61,4 +61,4 @@ struct RpcHandlerInfo { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H diff --git a/cartographer_grpc/framework/server.cc b/cartographer_grpc/internal/framework/server.cc similarity index 99% rename from cartographer_grpc/framework/server.cc rename to cartographer_grpc/internal/framework/server.cc index 2d07b86..c0fbde9 100644 --- a/cartographer_grpc/framework/server.cc +++ b/cartographer_grpc/internal/framework/server.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/server.h" +#include "cartographer_grpc/internal/framework/server.h" #include "glog/logging.h" diff --git a/cartographer_grpc/framework/server.h b/cartographer_grpc/internal/framework/server.h similarity index 93% rename from cartographer_grpc/framework/server.h rename to cartographer_grpc/internal/framework/server.h index 6bfbda4..b0dc18e 100644 --- a/cartographer_grpc/framework/server.h +++ b/cartographer_grpc/internal/framework/server.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H #include #include @@ -24,11 +24,11 @@ #include #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/completion_queue_thread.h" -#include "cartographer_grpc/framework/event_queue_thread.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/framework/service.h" +#include "cartographer_grpc/internal/framework/completion_queue_thread.h" +#include "cartographer_grpc/internal/framework/event_queue_thread.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/service.h" #include "grpc++/grpc++.h" namespace cartographer_grpc { @@ -195,4 +195,4 @@ class Server { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVER_H diff --git a/cartographer_grpc/framework/server_test.cc b/cartographer_grpc/internal/framework/server_test.cc similarity index 96% rename from cartographer_grpc/framework/server_test.cc rename to cartographer_grpc/internal/framework/server_test.cc index b5cd0a4..7c3d372 100644 --- a/cartographer_grpc/framework/server_test.cc +++ b/cartographer_grpc/internal/framework/server_test.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/server.h" +#include "cartographer_grpc/internal/framework/server.h" #include -#include "cartographer_grpc/framework/client.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/proto/math_service.pb.h" -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/client.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/proto/math_service.pb.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "glog/logging.h" #include "google/protobuf/descriptor.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/framework/service.cc b/cartographer_grpc/internal/framework/service.cc similarity index 98% rename from cartographer_grpc/framework/service.cc rename to cartographer_grpc/internal/framework/service.cc index 875b2d7..fdf7311 100644 --- a/cartographer_grpc/framework/service.cc +++ b/cartographer_grpc/internal/framework/service.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/server.h" +#include "cartographer_grpc/internal/framework/server.h" #include diff --git a/cartographer_grpc/framework/service.h b/cartographer_grpc/internal/framework/service.h similarity index 79% rename from cartographer_grpc/framework/service.h rename to cartographer_grpc/internal/framework/service.h index 895b0e7..d3d3151 100644 --- a/cartographer_grpc/framework/service.h +++ b/cartographer_grpc/internal/framework/service.h @@ -14,14 +14,14 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H -#include "cartographer_grpc/framework/completion_queue_thread.h" -#include "cartographer_grpc/framework/event_queue_thread.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/rpc.h" -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/completion_queue_thread.h" +#include "cartographer_grpc/internal/framework/event_queue_thread.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/rpc.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "grpc++/impl/codegen/service_type.h" namespace cartographer_grpc { @@ -62,4 +62,4 @@ class Service : public ::grpc::Service { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H diff --git a/cartographer_grpc/framework/testing/rpc_handler_test_server.h b/cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h similarity index 90% rename from cartographer_grpc/framework/testing/rpc_handler_test_server.h rename to cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h index e56e1e2..3a0f48e 100644 --- a/cartographer_grpc/framework/testing/rpc_handler_test_server.h +++ b/cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h @@ -14,17 +14,17 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ -#define CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ #include #include #include "cartographer/common/blocking_queue.h" -#include "cartographer_grpc/framework/client.h" -#include "cartographer_grpc/framework/rpc_handler_interface.h" -#include "cartographer_grpc/framework/server.h" -#include "cartographer_grpc/framework/testing/rpc_handler_wrapper.h" +#include "cartographer_grpc/internal/framework/client.h" +#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" +#include "cartographer_grpc/internal/framework/server.h" +#include "cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h" #include "grpc++/grpc++.h" #include "gtest/gtest.h" @@ -136,4 +136,4 @@ class RpcHandlerTestServer : public Server { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_TEST_SERVER_H_ diff --git a/cartographer_grpc/framework/testing/rpc_handler_wrapper.h b/cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h similarity index 86% rename from cartographer_grpc/framework/testing/rpc_handler_wrapper.h rename to cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h index db67fb1..fd3c43b 100644 --- a/cartographer_grpc/framework/testing/rpc_handler_wrapper.h +++ b/cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ -#define CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ #include @@ -55,4 +55,4 @@ class RpcHandlerWrapper : public RpcHandlerType { } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TESTING_RPC_HANDLER_WRAPPER_H_ diff --git a/cartographer_grpc/framework/type_traits.h b/cartographer_grpc/internal/framework/type_traits.h similarity index 92% rename from cartographer_grpc/framework/type_traits.h rename to cartographer_grpc/internal/framework/type_traits.h index 9daed7d..ac6347c 100644 --- a/cartographer_grpc/framework/type_traits.h +++ b/cartographer_grpc/internal/framework/type_traits.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H -#define CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H +#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H #include @@ -66,4 +66,4 @@ struct RpcType, Stream> } // namespace framework } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_FRAMEWORK_TYPES_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_TYPES_H diff --git a/cartographer_grpc/framework/type_traits_test.cc b/cartographer_grpc/internal/framework/type_traits_test.cc similarity index 95% rename from cartographer_grpc/framework/type_traits_test.cc rename to cartographer_grpc/internal/framework/type_traits_test.cc index 700af3a..b68678f 100644 --- a/cartographer_grpc/framework/type_traits_test.cc +++ b/cartographer_grpc/internal/framework/type_traits_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/framework/type_traits.h" +#include "cartographer_grpc/internal/framework/type_traits.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc index d736838..d48a20b 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc @@ -19,10 +19,10 @@ #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/fixed_frame_pose_data.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "google/protobuf/empty.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h index a47201d..60e0d8d 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc index 2cc28c9..bffdabd 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler.cc b/cartographer_grpc/internal/handlers/add_imu_data_handler.cc index f4ec7d7..7013848 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_imu_data_handler.cc @@ -19,10 +19,10 @@ #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/imu_data.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "google/protobuf/empty.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler.h b/cartographer_grpc/internal/handlers/add_imu_data_handler.h index 203710d..7b1c6bf 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_imu_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc b/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc index e12c5e4..b62ddbb 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc b/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc index 3eea30a..7e8368f 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc @@ -19,10 +19,10 @@ #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/landmark_data.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "google/protobuf/empty.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler.h b/cartographer_grpc/internal/handlers/add_landmark_data_handler.h index 5b2c6f5..dadf381 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_landmark_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc b/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc index 4097a95..84c4af7 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc b/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc index d30de2f..b007878 100644 --- a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc @@ -20,8 +20,8 @@ #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_node.h" #include "cartographer/sensor/dispatchable.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h b/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h index 786237a..d3320ce 100644 --- a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc b/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc index 0ea073a..97a2fdb 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc @@ -19,10 +19,10 @@ #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/odometry_data.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "google/protobuf/empty.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler.h b/cartographer_grpc/internal/handlers/add_odometry_data_handler.h index c7b29ac..0defe03 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_odometry_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc b/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc index 2ca915b..0d24511 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc index 5034663..8283fa2 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc +++ b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc @@ -19,8 +19,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/timed_point_cloud_data.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h index 7fcb318..352f152 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h +++ b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc index 7cef1a8..2d8f315 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler.cc b/cartographer_grpc/internal/handlers/add_trajectory_handler.cc index eff1c68..6ea2715 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler.cc +++ b/cartographer_grpc/internal/handlers/add_trajectory_handler.cc @@ -17,10 +17,10 @@ #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" namespace cartographer_grpc { namespace handlers { diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler.h b/cartographer_grpc/internal/handlers/add_trajectory_handler.h index fdbbae5..80e7d39 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler.h +++ b/cartographer_grpc/internal/handlers/add_trajectory_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc b/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc index f27369c..1609a6b 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc +++ b/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc @@ -15,10 +15,10 @@ */ #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" -#include "cartographer_grpc/sensor/serialization.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/mock_map_builder.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/sensor/serialization.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/mock_map_builder.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc b/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc index 7e1944e..89ae1bf 100644 --- a/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc +++ b/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/finish_trajectory_handler.h b/cartographer_grpc/internal/handlers/finish_trajectory_handler.h index 52ca37e..6032a81 100644 --- a/cartographer_grpc/internal/handlers/finish_trajectory_handler.h +++ b/cartographer_grpc/internal/handlers/finish_trajectory_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_all_submap_poses.cc b/cartographer_grpc/internal/handlers/get_all_submap_poses.cc index 1416ef7..c8e2325 100644 --- a/cartographer_grpc/internal/handlers/get_all_submap_poses.cc +++ b/cartographer_grpc/internal/handlers/get_all_submap_poses.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_all_submap_poses.h b/cartographer_grpc/internal/handlers/get_all_submap_poses.h index cd626d8..9063b37 100644 --- a/cartographer_grpc/internal/handlers/get_all_submap_poses.h +++ b/cartographer_grpc/internal/handlers/get_all_submap_poses.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_constraints_handler.cc b/cartographer_grpc/internal/handlers/get_constraints_handler.cc index f342872..c983804 100644 --- a/cartographer_grpc/internal/handlers/get_constraints_handler.cc +++ b/cartographer_grpc/internal/handlers/get_constraints_handler.cc @@ -18,8 +18,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_constraints_handler.h b/cartographer_grpc/internal/handlers/get_constraints_handler.h index 6c6edf3..293c7f3 100644 --- a/cartographer_grpc/internal/handlers/get_constraints_handler.h +++ b/cartographer_grpc/internal/handlers/get_constraints_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc b/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc index a5fe1f8..c724921 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc +++ b/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h b/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h index 9c4018f..1f832f4 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h +++ b/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc b/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc index 5bca23d..42bd955 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc +++ b/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc @@ -15,8 +15,8 @@ */ #include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" -#include "cartographer_grpc/testing/handler_test.h" -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/handler_test.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc b/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc index f1f1068..63a573d 100644 --- a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc +++ b/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc @@ -16,8 +16,8 @@ #include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h b/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h index 23e01b7..95227bd 100644 --- a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h +++ b/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_submap_handler.cc b/cartographer_grpc/internal/handlers/get_submap_handler.cc index be0b0d0..d9df9fc 100644 --- a/cartographer_grpc/internal/handlers/get_submap_handler.cc +++ b/cartographer_grpc/internal/handlers/get_submap_handler.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/get_submap_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_submap_handler.h b/cartographer_grpc/internal/handlers/get_submap_handler.h index 1bd7513..a6961ac 100644 --- a/cartographer_grpc/internal/handlers/get_submap_handler.h +++ b/cartographer_grpc/internal/handlers/get_submap_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc b/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc index 5052db3..e7d6d1e 100644 --- a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc +++ b/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h b/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h index 842e56a..e163f76 100644 --- a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h +++ b/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/load_state_handler.cc b/cartographer_grpc/internal/handlers/load_state_handler.cc index c3179c0..01c0116 100644 --- a/cartographer_grpc/internal/handlers/load_state_handler.cc +++ b/cartographer_grpc/internal/handlers/load_state_handler.cc @@ -18,8 +18,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/load_state_handler.h b/cartographer_grpc/internal/handlers/load_state_handler.h index 2719903..8c7af84 100644 --- a/cartographer_grpc/internal/handlers/load_state_handler.h +++ b/cartographer_grpc/internal/handlers/load_state_handler.h @@ -18,7 +18,7 @@ #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc b/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc index 24abd2f..83c8b5d 100644 --- a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc +++ b/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc @@ -17,8 +17,8 @@ #include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h b/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h index bda374c..5d0df99 100644 --- a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h +++ b/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h @@ -19,8 +19,8 @@ #include -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc b/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc index 49d1c68..73a865f 100644 --- a/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc +++ b/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc @@ -19,8 +19,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/run_final_optimization_handler.h b/cartographer_grpc/internal/handlers/run_final_optimization_handler.h index 3854888..c9dadfc 100644 --- a/cartographer_grpc/internal/handlers/run_final_optimization_handler.h +++ b/cartographer_grpc/internal/handlers/run_final_optimization_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/internal/handlers/write_state_handler.cc b/cartographer_grpc/internal/handlers/write_state_handler.cc index 1e2bf13..02404ee 100644 --- a/cartographer_grpc/internal/handlers/write_state_handler.cc +++ b/cartographer_grpc/internal/handlers/write_state_handler.cc @@ -18,9 +18,9 @@ #include "cartographer/common/make_unique.h" #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/framework/rpc_handler.h" -#include "cartographer_grpc/map_builder_context_interface.h" -#include "cartographer_grpc/map_builder_server.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" +#include "cartographer_grpc/internal/map_builder_server.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/internal/handlers/write_state_handler.h b/cartographer_grpc/internal/handlers/write_state_handler.h index 79c05e3..836c632 100644 --- a/cartographer_grpc/internal/handlers/write_state_handler.h +++ b/cartographer_grpc/internal/handlers/write_state_handler.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H -#include "cartographer_grpc/framework/rpc_handler.h" +#include "cartographer_grpc/internal/framework/rpc_handler.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" diff --git a/cartographer_grpc/local_trajectory_uploader.cc b/cartographer_grpc/internal/local_trajectory_uploader.cc similarity index 98% rename from cartographer_grpc/local_trajectory_uploader.cc rename to cartographer_grpc/internal/local_trajectory_uploader.cc index c7217ba..264d6ab 100644 --- a/cartographer_grpc/local_trajectory_uploader.cc +++ b/cartographer_grpc/internal/local_trajectory_uploader.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer_grpc/local_trajectory_uploader.h" +#include "cartographer_grpc/internal/local_trajectory_uploader.h" #include #include #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/client.h" +#include "cartographer_grpc/internal/framework/client.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" #include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" @@ -28,8 +28,8 @@ #include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" #include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" #include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" -#include "cartographer_grpc/sensor/serialization.h" #include "glog/logging.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/local_trajectory_uploader.h b/cartographer_grpc/internal/local_trajectory_uploader.h similarity index 100% rename from cartographer_grpc/local_trajectory_uploader.h rename to cartographer_grpc/internal/local_trajectory_uploader.h diff --git a/cartographer_grpc/map_builder_context.cc b/cartographer_grpc/internal/map_builder_context.cc similarity index 98% rename from cartographer_grpc/map_builder_context.cc rename to cartographer_grpc/internal/map_builder_context.cc index b6ec4bc..95229c6 100644 --- a/cartographer_grpc/map_builder_context.cc +++ b/cartographer_grpc/internal/map_builder_context.cc @@ -14,8 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/map_builder_context.h" -#include "cartographer_grpc/map_builder_server.h" +#include "cartographer_grpc/internal/map_builder_context.h" + +#include "cartographer_grpc/internal/map_builder_server.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/map_builder_context.h b/cartographer_grpc/internal/map_builder_context.h similarity index 97% rename from cartographer_grpc/map_builder_context.h rename to cartographer_grpc/internal/map_builder_context.h index b9018e9..ca50841 100644 --- a/cartographer_grpc/map_builder_context.h +++ b/cartographer_grpc/internal/map_builder_context.h @@ -19,7 +19,7 @@ #include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/3d/submap_3d.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/map_builder_context_interface.h b/cartographer_grpc/internal/map_builder_context_interface.h similarity index 96% rename from cartographer_grpc/map_builder_context_interface.h rename to cartographer_grpc/internal/map_builder_context_interface.h index 1506b50..6f10d05 100644 --- a/cartographer_grpc/map_builder_context_interface.h +++ b/cartographer_grpc/internal/map_builder_context_interface.h @@ -22,8 +22,8 @@ #include "cartographer/sensor/data.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/local_trajectory_uploader.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/local_trajectory_uploader.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/map_builder_server.cc b/cartographer_grpc/internal/map_builder_server.cc similarity index 98% rename from cartographer_grpc/map_builder_server.cc rename to cartographer_grpc/internal/map_builder_server.cc index 145ed5a..5da86bf 100644 --- a/cartographer_grpc/map_builder_server.cc +++ b/cartographer_grpc/internal/map_builder_server.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/map_builder_server.h" +#include "cartographer_grpc/internal/map_builder_server.h" #include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" #include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" @@ -34,7 +34,7 @@ #include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" #include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h" #include "cartographer_grpc/internal/handlers/write_state_handler.h" -#include "cartographer_grpc/sensor/serialization.h" +#include "cartographer_grpc/internal/sensor/serialization.h" #include "glog/logging.h" namespace cartographer_grpc { diff --git a/cartographer_grpc/map_builder_server.h b/cartographer_grpc/internal/map_builder_server.h similarity index 87% rename from cartographer_grpc/map_builder_server.h rename to cartographer_grpc/internal/map_builder_server.h index dfa5ff0..009c5b8 100644 --- a/cartographer_grpc/map_builder_server.h +++ b/cartographer_grpc/internal/map_builder_server.h @@ -23,36 +23,38 @@ #include "cartographer/mapping/map_builder.h" #include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/sensor/dispatchable.h" -#include "cartographer_grpc/framework/execution_context.h" -#include "cartographer_grpc/framework/server.h" -#include "cartographer_grpc/local_trajectory_uploader.h" -#include "cartographer_grpc/map_builder_context.h" +#include "cartographer_grpc/internal/framework/execution_context.h" +#include "cartographer_grpc/internal/framework/server.h" +#include "cartographer_grpc/internal/local_trajectory_uploader.h" +#include "cartographer_grpc/internal/map_builder_context.h" +#include "cartographer_grpc/map_builder_server_interface.h" #include "cartographer_grpc/proto/map_builder_server_options.pb.h" namespace cartographer_grpc { -class MapBuilderServer { +class MapBuilderServer : public MapBuilderServerInterface { public: friend MapBuilderContext; MapBuilderServer( const proto::MapBuilderServerOptions& map_builder_server_options, std::unique_ptr map_builder); + ~MapBuilderServer() {} // Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread. - void Start(); + void Start() final; // Waits for the 'MapBuilderServer' to shut down. Note: The server must be // either shutting down or some other thread must call 'Shutdown()' for this // function to ever return. - void WaitForShutdown(); + void WaitForShutdown() final; // Waits until all computation is finished (for testing). - void WaitUntilIdle(); + void WaitUntilIdle() final; // Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM // thread. - void Shutdown(); + void Shutdown() final; private: using LocalSlamResultHandlerSubscriptions = diff --git a/cartographer_grpc/sensor/serialization.cc b/cartographer_grpc/internal/sensor/serialization.cc similarity index 98% rename from cartographer_grpc/sensor/serialization.cc rename to cartographer_grpc/internal/sensor/serialization.cc index f3f473a..606d5c7 100644 --- a/cartographer_grpc/sensor/serialization.cc +++ b/cartographer_grpc/internal/sensor/serialization.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "serialization.h" +#include "cartographer_grpc/internal/sensor/serialization.h" namespace cartographer_grpc { namespace sensor { diff --git a/cartographer_grpc/sensor/serialization.h b/cartographer_grpc/internal/sensor/serialization.h similarity index 94% rename from cartographer_grpc/sensor/serialization.h rename to cartographer_grpc/internal/sensor/serialization.h index a425a37..85d8564 100644 --- a/cartographer_grpc/sensor/serialization.h +++ b/cartographer_grpc/internal/sensor/serialization.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H -#define CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H +#define CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_builder_interface.h" @@ -70,4 +70,4 @@ cartographer::mapping::TrajectoryBuilderInterface::SensorId FromProto( } // namespace sensor } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H diff --git a/cartographer_grpc/testing/handler_test.h b/cartographer_grpc/internal/testing/handler_test.h similarity index 84% rename from cartographer_grpc/testing/handler_test.h rename to cartographer_grpc/internal/testing/handler_test.h index acef1be..c81e147 100644 --- a/cartographer_grpc/testing/handler_test.h +++ b/cartographer_grpc/internal/testing/handler_test.h @@ -14,16 +14,16 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H -#define CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/framework/testing/rpc_handler_test_server.h" -#include "cartographer_grpc/testing/mock_local_trajectory_uploader.h" -#include "cartographer_grpc/testing/mock_map_builder.h" -#include "cartographer_grpc/testing/mock_map_builder_context.h" -#include "cartographer_grpc/testing/mock_pose_graph.h" +#include "cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h" #include "gtest/gtest.h" +#include "mock_local_trajectory_uploader.h" +#include "mock_map_builder.h" +#include "mock_map_builder_context.h" +#include "mock_pose_graph.h" namespace cartographer_grpc { namespace testing { @@ -76,4 +76,4 @@ class HandlerTest : public Test { } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_HANDLER_TEST_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H diff --git a/cartographer_grpc/testing/mock_local_trajectory_uploader.h b/cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h similarity index 82% rename from cartographer_grpc/testing/mock_local_trajectory_uploader.h rename to cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h index 0ffc070..2b3dc6c 100644 --- a/cartographer_grpc/testing/mock_local_trajectory_uploader.h +++ b/cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h @@ -14,10 +14,10 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H -#define CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H -#include "cartographer_grpc/local_trajectory_uploader.h" +#include "cartographer_grpc/internal/local_trajectory_uploader.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" @@ -45,4 +45,4 @@ class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface { } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H diff --git a/cartographer_grpc/testing/mock_map_builder.h b/cartographer_grpc/internal/testing/mock_map_builder.h similarity index 92% rename from cartographer_grpc/testing/mock_map_builder.h rename to cartographer_grpc/internal/testing/mock_map_builder.h index c18fcdc..22b064e 100644 --- a/cartographer_grpc/testing/mock_map_builder.h +++ b/cartographer_grpc/internal/testing/mock_map_builder.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H -#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H #include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/trajectory_builder_interface.h" @@ -65,4 +65,4 @@ class MockMapBuilder : public cartographer::mapping::MapBuilderInterface { } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H diff --git a/cartographer_grpc/testing/mock_map_builder_context.h b/cartographer_grpc/internal/testing/mock_map_builder_context.h similarity index 92% rename from cartographer_grpc/testing/mock_map_builder_context.h rename to cartographer_grpc/internal/testing/mock_map_builder_context.h index 70a9fe3..f12adb1 100644 --- a/cartographer_grpc/testing/mock_map_builder_context.h +++ b/cartographer_grpc/internal/testing/mock_map_builder_context.h @@ -14,11 +14,11 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H -#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H #include "cartographer/mapping/local_slam_result_data.h" -#include "cartographer_grpc/map_builder_context_interface.h" +#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" @@ -78,4 +78,4 @@ class MockMapBuilderContext : public MapBuilderContextInterface { } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_CONTEXT_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H diff --git a/cartographer_grpc/testing/mock_pose_graph.h b/cartographer_grpc/internal/testing/mock_pose_graph.h similarity index 92% rename from cartographer_grpc/testing/mock_pose_graph.h rename to cartographer_grpc/internal/testing/mock_pose_graph.h index ce19d55..aad3eef 100644 --- a/cartographer_grpc/testing/mock_pose_graph.h +++ b/cartographer_grpc/internal/testing/mock_pose_graph.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H -#define CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H #include "cartographer/mapping/pose_graph_interface.h" #include "glog/logging.h" @@ -61,4 +61,4 @@ class MockPoseGraph : public cartographer::mapping::PoseGraphInterface { } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H diff --git a/cartographer_grpc/testing/mock_trajectory_builder.h b/cartographer_grpc/internal/testing/mock_trajectory_builder.h similarity index 90% rename from cartographer_grpc/testing/mock_trajectory_builder.h rename to cartographer_grpc/internal/testing/mock_trajectory_builder.h index 80591df..5058685 100644 --- a/cartographer_grpc/testing/mock_trajectory_builder.h +++ b/cartographer_grpc/internal/testing/mock_trajectory_builder.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H -#define CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H #include "cartographer/mapping/trajectory_builder_interface.h" #include "glog/logging.h" @@ -58,4 +58,4 @@ class MockTrajectoryBuilder } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H diff --git a/cartographer_grpc/testing/test_helpers.cc b/cartographer_grpc/internal/testing/test_helpers.cc similarity index 98% rename from cartographer_grpc/testing/test_helpers.cc rename to cartographer_grpc/internal/testing/test_helpers.cc index b439e14..c0067f0 100644 --- a/cartographer_grpc/testing/test_helpers.cc +++ b/cartographer_grpc/internal/testing/test_helpers.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/testing/test_helpers.h" +#include "cartographer_grpc/internal/testing/test_helpers.h" namespace cartographer_grpc { namespace testing { diff --git a/cartographer_grpc/testing/test_helpers.h b/cartographer_grpc/internal/testing/test_helpers.h similarity index 91% rename from cartographer_grpc/testing/test_helpers.h rename to cartographer_grpc/internal/testing/test_helpers.h index 4e9716d..0578368 100644 --- a/cartographer_grpc/testing/test_helpers.h +++ b/cartographer_grpc/internal/testing/test_helpers.h @@ -14,8 +14,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H -#define CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H +#ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H +#define CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H #include "cartographer/sensor/dispatchable.h" #include "cartographer_grpc/proto/map_builder_service.pb.h" @@ -54,4 +54,4 @@ ProtoPredicateType BuildProtoPredicateEquals( } // namespace testing } // namespace cartographer_grpc -#endif // CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H +#endif // CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H diff --git a/cartographer_grpc/map_builder_server_interface.cc b/cartographer_grpc/map_builder_server_interface.cc new file mode 100644 index 0000000..94c7531 --- /dev/null +++ b/cartographer_grpc/map_builder_server_interface.cc @@ -0,0 +1,15 @@ +#include "cartographer_grpc/map_builder_server_interface.h" + +#include "cartographer/common/make_unique.h" +#include "cartographer_grpc/internal/map_builder_server.h" + +namespace cartographer_grpc { + +std::unique_ptr CreateMapBuilderServer( + const proto::MapBuilderServerOptions& map_builder_server_options, + std::unique_ptr<::cartographer::mapping::MapBuilderInterface> map_builder) { + return ::cartographer::common::make_unique( + map_builder_server_options, std::move(map_builder)); +} + +} // namespace cartographer_grpc diff --git a/cartographer_grpc/map_builder_server_interface.h b/cartographer_grpc/map_builder_server_interface.h new file mode 100644 index 0000000..d1391fe --- /dev/null +++ b/cartographer_grpc/map_builder_server_interface.h @@ -0,0 +1,54 @@ +/* + * 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_GRPC_MAP_BUILDER_SERVER_INTERFACE_H +#define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H + +#include + +#include "cartographer/mapping/map_builder_interface.h" +#include "cartographer_grpc/proto/map_builder_server_options.pb.h" + +namespace cartographer_grpc { + +class MapBuilderServerInterface { + public: + virtual ~MapBuilderServerInterface() {} + + // Starts the gRPC server, the 'LocalTrajectoryUploader' and the SLAM thread. + virtual void Start() = 0; + + // Waits for the 'MapBuilderServer' to shut down. Note: The server must be + // either shutting down or some other thread must call 'Shutdown()' for + // this function to ever return. + virtual void WaitForShutdown() = 0; + + // Waits until all computation is finished (for testing). + virtual void WaitUntilIdle() = 0; + + // Shuts down the gRPC server, the 'LocalTrajectoryUploader' and the SLAM + // thread. + virtual void Shutdown() = 0; +}; + +// Returns MapBuilderServer with the actual implementation. +std::unique_ptr CreateMapBuilderServer( + const proto::MapBuilderServerOptions& map_builder_server_options, + std::unique_ptr map_builder); + +} // namespace cartographer_grpc + +#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_INTERFACE_H diff --git a/cartographer_grpc/map_builder_server_main.cc b/cartographer_grpc/map_builder_server_main.cc index 094a2dc..05c9014 100644 --- a/cartographer_grpc/map_builder_server_main.cc +++ b/cartographer_grpc/map_builder_server_main.cc @@ -14,8 +14,9 @@ * limitations under the License. */ +#include "cartographer/mapping/map_builder.h" #include "cartographer/metrics/register.h" -#include "cartographer_grpc/map_builder_server.h" +#include "cartographer_grpc/map_builder_server_interface.h" #include "cartographer_grpc/map_builder_server_options.h" #include "gflags/gflags.h" #include "glog/logging.h" @@ -54,10 +55,11 @@ void Run(const std::string& configuration_directory, auto map_builder = cartographer::common::make_unique( map_builder_server_options.map_builder_options()); - MapBuilderServer map_builder_server(map_builder_server_options, - std::move(map_builder)); - map_builder_server.Start(); - map_builder_server.WaitForShutdown(); + std::unique_ptr map_builder_server = + CreateMapBuilderServer(map_builder_server_options, + std::move(map_builder)); + map_builder_server->Start(); + map_builder_server->WaitForShutdown(); } } // namespace cartographer_grpc