Program Listing for File MapSourceBase.h

↰ Return to documentation for file (include/mola_kernel/interfaces/MapSourceBase.h)

/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2025 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mola_kernel/Georeferencing.h>
#include <mrpt/maps/CMetricMap.h>

#include <functional>
#include <iostream>
#include <mutex>
#include <string>
#include <vector>

namespace mola
{
class MapSourceBase
{
 public:
  MapSourceBase() = default;

  struct MapUpdate
  {
    MapUpdate() = default;

    mrpt::Clock::time_point timestamp;

    std::string reference_frame = "map";

    std::string method = "slam";

    std::string map_name = "local_map";

    mrpt::maps::CMetricMap::Ptr map;

    std::optional<Georeferencing> georeferencing;

    std::optional<std::string> map_metadata;
  };

  using map_updates_callback_t = std::function<void(const MapUpdate&)>;

  void subscribeToMapUpdates(const map_updates_callback_t& callback)
  {
    auto lck = mrpt::lockHelper(mapUpdSubsMtx_);
    mapUpdSubs_.push_back(callback);
  }

 protected:
  bool anyUpdateMapSubscriber()
  {
    auto lck = mrpt::lockHelper(mapUpdSubsMtx_);
    return !mapUpdSubs_.empty();
  }

  void advertiseUpdatedMap(const MapUpdate& l)
  {
    auto lck = mrpt::lockHelper(mapUpdSubsMtx_);
    for (const auto& callback : mapUpdSubs_)
    {
      try
      {
        callback(l);
      }
      catch (const std::exception& e)
      {
        std::cerr << "[MapSourceBase] Exception in callback: " << e.what();
      }
    }
  }

 private:
  std::vector<map_updates_callback_t> mapUpdSubs_;
  std::mutex                          mapUpdSubsMtx_;
};

}  // namespace mola