text: /*
   * Copyright 2018 The Cartographer Authors
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *      http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  #ifndef CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
  #define CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
  
  #include <memory>
  
  #include "cartographer/cloud/proto/map_builder_server_options.pb.h"
  #include "cartographer/mapping/map_builder_interface.h"
  
  namespace cartographer {
  namespace cloud {
  
  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<MapBuilderServerInterface> CreateMapBuilderServer(
      const proto::MapBuilderServerOptions& map_builder_server_options,
      std::unique_ptr<mapping::MapBuilderInterface> map_builder);
  
  }  // namespace cloud
  }  // namespace cartographer
  
  #endif  // CARTOGRAPHER_CLOUD_MAP_BUILDER_SERVER_INTERFACE_H
  