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This repository has been archived by the owner on Jul 10, 2023. It is now read-only.

DATA-723 Set Max Message Size for SLAM to 32 MB (SLAM) #117

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7 commits merged into from Dec 12, 2022
Merged

DATA-723 Set Max Message Size for SLAM to 32 MB (SLAM) #117

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bc5c5e9
set max message size
Dec 9, 2022
45bb75b
make format
Dec 9, 2022
84a1e6f
clean
Dec 9, 2022
deebcd1
add comment for max size
Dec 12, 2022
2e716f0
forgot one
Dec 12, 2022
e9c2c34
make format
Dec 12, 2022
eaf7db1
Merge branch 'main' of github.com:viamrobotics/slam into DATA-723_Max…
Dec 12, 2022
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3 changes: 3 additions & 0 deletions slam-libraries/viam-cartographer/src/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@
#include "slam_service/config.h"
#include "slam_service/slam_service.h"

const int maxMessageSize = 32 * 1024 * 1024;

void exit_loop_handler(int s) {
LOG(INFO) << "Finishing session.\n";
viam::b_continue_session = false;
Expand Down Expand Up @@ -38,6 +40,7 @@ int main(int argc, char** argv) {
builder.AddListeningPort(slamService.port,
grpc::InsecureServerCredentials(),
selected_port.get());
builder.SetMaxSendMessageSize(maxMessageSize);
builder.RegisterService(&slamService);

// Start the SLAM gRPC server
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3 changes: 3 additions & 0 deletions slam-libraries/viam-orb-slam3/orbslam_server_v1_main.cc
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Expand Up @@ -18,6 +18,8 @@ using grpc::Server;
using grpc::ServerBuilder;
using SlamPtr = std::unique_ptr<ORB_SLAM3::System>;

const int maxMessageSize = 32 * 1024 * 1024;

void exit_loop_handler(int s) {
BOOST_LOG_TRIVIAL(info) << "Finishing session";
viam::b_continue_session = false;
Expand Down Expand Up @@ -51,6 +53,7 @@ int main(int argc, char **argv) {
builder.AddListeningPort(slamService.slam_port,
grpc::InsecureServerCredentials(),
selected_port.get());
builder.SetMaxSendMessageSize(maxMessageSize);
builder.RegisterService(&slamService);

// Start the SLAM gRPC server
Expand Down