Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

add jobs done file #191

Merged
merged 4 commits into from
Jul 12, 2023
Merged

add jobs done file #191

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
e522309
add jobs done file
JohnN193 Jul 11, 2023
8c0ff9f
make lint
JohnN193 Jul 11, 2023
27cefe2
Merge branch 'main' of github.com:viamrobotics/viam-cartographer into…
JohnN193 Jul 12, 2023
f89d017
address comments
JohnN193 Jul 12, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 15 additions & 1 deletion viam-cartographer.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ import (
"context"
"io"
"os"
"path/filepath"
"strconv"
"strings"
"sync"
Expand Down Expand Up @@ -226,6 +227,7 @@ func New(
cartoFacadeTimeout: cartoFacadeTimeout,
localizationMode: mapRateSec == 0,
mapTimestamp: time.Now().UTC(),
jobDone: false,
}
defer func() {
if err != nil {
Expand Down Expand Up @@ -493,6 +495,7 @@ type cartographerService struct {
sensorValidationIntervalSec int
// deprecated
dialMaxTimeoutSec int
jobDone bool
}

// GetPosition forwards the request for positional data to the slam library's gRPC service. Once a response is received,
Expand Down Expand Up @@ -660,7 +663,18 @@ func (cartoSvc *cartographerService) readDataOnInterval(ctx context.Context, lid

func (cartoSvc *cartographerService) getNextDataPoint(ctx context.Context, lidar lidar.Lidar, c chan int) {
if _, err := dim2d.GetAndSaveData(ctx, cartoSvc.dataDirectory, lidar, cartoSvc.logger); err != nil {
cartoSvc.logger.Warn(err)
if strings.Contains(err.Error(), "reached end of dataset") {
if !cartoSvc.jobDone {
cartoSvc.logger.Warn(err)
_, err = os.Create(filepath.Join(cartoSvc.dataDirectory, "job_done.txt"))
if err != nil {
cartoSvc.logger.Warn(err)
}
cartoSvc.jobDone = true
}
} else {
cartoSvc.logger.Warn(err)
}
}
if c != nil {
c <- 1
Expand Down
Loading