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.
   */
  
  #include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h"
  
  #include "async_grpc/rpc_handler.h"
  #include "cartographer/cloud/internal/map_builder_context_interface.h"
  #include "cartographer/cloud/internal/sensor/serialization.h"
  #include "cartographer/cloud/proto/map_builder_service.pb.h"
  #include "cartographer/common/make_unique.h"
  #include "cartographer/sensor/internal/dispatchable.h"
  #include "cartographer/sensor/landmark_data.h"
  #include "google/protobuf/empty.pb.h"
  
  namespace cartographer {
  namespace cloud {
  namespace handlers {
  
  void AddLandmarkDataHandler::OnSensorData(
      const proto::AddLandmarkDataRequest& request) {
    // The 'BlockingQueue' returned by 'sensor_data_queue()' is already
    // thread-safe. Therefore it suffices to get an unsynchronized reference to
    // the 'MapBuilderContext'.
    GetUnsynchronizedContext<MapBuilderContextInterface>()->EnqueueSensorData(
        request.sensor_metadata().trajectory_id(),
        sensor::MakeDispatchable(request.sensor_metadata().sensor_id(),
                                 sensor::FromProto(request.landmark_data())));
  
    // The 'BlockingQueue' in 'LocalTrajectoryUploader' is thread-safe.
    // Therefore it suffices to get an unsynchronized reference to the
    // 'MapBuilderContext'.
    if (GetUnsynchronizedContext<MapBuilderContextInterface>()
            ->local_trajectory_uploader()) {
      auto sensor_data = common::make_unique<proto::SensorData>();
      *sensor_data->mutable_sensor_metadata() = request.sensor_metadata();
      *sensor_data->mutable_landmark_data() = request.landmark_data();
      GetUnsynchronizedContext<MapBuilderContextInterface>()
          ->local_trajectory_uploader()
          ->EnqueueSensorData(std::move(sensor_data));
    }
  }
  
  }  // namespace handlers
  }  // namespace cloud
  }  // namespace cartographer
  