From f83ba3db2f336c147500e6874cebaaf6252e8711 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Mon, 4 Jun 2018 11:11:28 +0200
Subject: [PATCH] Fix LoadState gRPC (#1179)

---
 cartographer/cloud/client/map_builder_stub.cc    | 16 ++++++++++++----
 cartographer/cloud/client/map_builder_stub.h     |  1 +
 .../internal/handlers/load_state_handler.cc      | 10 ++++------
 .../cloud/proto/map_builder_service.proto        |  6 ++----
 4 files changed, 19 insertions(+), 14 deletions(-)

diff --git a/cartographer/cloud/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc
index c3c4e43..0690cc1 100644
--- a/cartographer/cloud/client/map_builder_stub.cc
+++ b/cartographer/cloud/client/map_builder_stub.cc
@@ -132,16 +132,24 @@ void MapBuilderStub::LoadState(io::ProtoStreamReaderInterface* reader,
   async_grpc::Client<handlers::LoadStateSignature> client(client_channel_);
 
   io::ProtoStreamDeserializer deserializer(reader);
-  // Request with a PoseGraph proto is sent first.
+  // Request with the SerializationHeader proto is sent first.
   {
     proto::LoadStateRequest request;
-    *request.mutable_pose_graph() = deserializer.pose_graph();
+    *request.mutable_serialization_header() = deserializer.header();
     CHECK(client.Write(request));
   }
-  // Request with an AllTrajectoryBuilderOptions should be second.
+  // Request with a PoseGraph proto is sent second.
   {
     proto::LoadStateRequest request;
-    *request.mutable_all_trajectory_builder_options() =
+    *request.mutable_serialized_data()->mutable_pose_graph() =
+        deserializer.pose_graph();
+    CHECK(client.Write(request));
+  }
+  // Request with an AllTrajectoryBuilderOptions should be third.
+  {
+    proto::LoadStateRequest request;
+    *request.mutable_serialized_data()
+         ->mutable_all_trajectory_builder_options() =
         deserializer.all_trajectory_builder_options();
     CHECK(client.Write(request));
   }
diff --git a/cartographer/cloud/client/map_builder_stub.h b/cartographer/cloud/client/map_builder_stub.h
index 1aea0de..d102cef 100644
--- a/cartographer/cloud/client/map_builder_stub.h
+++ b/cartographer/cloud/client/map_builder_stub.h
@@ -56,6 +56,7 @@ class MapBuilderStub : public mapping::MapBuilderInterface {
   GetAllTrajectoryBuilderOptions() const override;
 
  private:
+  ::grpc::ChannelArguments channel_arguments_;
   std::shared_ptr<::grpc::Channel> client_channel_;
   std::unique_ptr<mapping::PoseGraphInterface> pose_graph_stub_;
   std::map<int, std::unique_ptr<mapping::TrajectoryBuilderInterface>>
diff --git a/cartographer/cloud/internal/handlers/load_state_handler.cc b/cartographer/cloud/internal/handlers/load_state_handler.cc
index 1a3de1e..c087aae 100644
--- a/cartographer/cloud/internal/handlers/load_state_handler.cc
+++ b/cartographer/cloud/internal/handlers/load_state_handler.cc
@@ -28,21 +28,19 @@ namespace handlers {
 
 void LoadStateHandler::OnRequest(const proto::LoadStateRequest& request) {
   switch (request.state_chunk_case()) {
-    case proto::LoadStateRequest::kPoseGraph:
-      reader_.AddProto(request.pose_graph());
-      break;
-    case proto::LoadStateRequest::kAllTrajectoryBuilderOptions:
-      reader_.AddProto(request.all_trajectory_builder_options());
-      break;
     case proto::LoadStateRequest::kSerializedData:
       reader_.AddProto(request.serialized_data());
       break;
+    case proto::LoadStateRequest::kSerializationHeader:
+      reader_.AddProto(request.serialization_header());
+      break;
     default:
       LOG(FATAL) << "Unhandled proto::LoadStateRequest case.";
   }
 }
 
 void LoadStateHandler::OnReadsDone() {
+  LOG(INFO) << "OnReadsDone";
   GetContext<MapBuilderContextInterface>()->map_builder().LoadState(&reader_,
                                                                     true);
   Send(common::make_unique<google::protobuf::Empty>());
diff --git a/cartographer/cloud/proto/map_builder_service.proto b/cartographer/cloud/proto/map_builder_service.proto
index 1f78fac..07ab5ea 100644
--- a/cartographer/cloud/proto/map_builder_service.proto
+++ b/cartographer/cloud/proto/map_builder_service.proto
@@ -127,10 +127,8 @@ message GetSubmapRequest {
 
 message LoadStateRequest {
   oneof state_chunk {
-    cartographer.mapping.proto.PoseGraph pose_graph = 1;
-    cartographer.mapping.proto.AllTrajectoryBuilderOptions
-        all_trajectory_builder_options = 2;
-    cartographer.mapping.proto.SerializedData serialized_data = 3;
+    cartographer.mapping.proto.SerializedData serialized_data = 1;
+    cartographer.mapping.proto.SerializationHeader serialization_header = 2;
   }
 }