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Merge pull request #20 from ichiro-its/feature/fix-using-grpc
[Sprint 22 / PD-50] - [Feature] Add implementation GRPC
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,86 @@ | ||
| // Copyright (c) 2024 Ichiro ITS | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // in the Software without restriction, including without limitation the rights | ||
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| // copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in | ||
| // all copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| // THE SOFTWARE. | ||
|
|
||
| #ifndef __ARUKU__CONFIG__GRPC__CALL_DATA_HPP__ | ||
| #define __ARUKU__CONFIG__GRPC__CALL_DATA_HPP__ | ||
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| #include "aruku/config/grpc/call_data_base.hpp" | ||
| #include "aruku_interfaces/aruku.grpc.pb.h" | ||
| #include "aruku_interfaces/aruku.pb.h" | ||
| #include "grpc/support/log.h" | ||
| #include "grpcpp/grpcpp.h" | ||
|
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| namespace aruku { | ||
| template <class ConfigRequest, class ConfigReply> | ||
| class CallData : public CallDataBase { | ||
| public: | ||
| CallData(aruku_interfaces::proto::Config::AsyncService *service, | ||
| grpc::ServerCompletionQueue *cq, const std::string path); | ||
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| void Proceed(); | ||
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| protected: | ||
| virtual void AddNextToCompletionQueue() = 0; | ||
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| enum CallStatus { CREATE, PROCESS, FINISH }; | ||
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| CallStatus status_; // The current serving state. | ||
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| aruku_interfaces::proto::Config::AsyncService *service_; | ||
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| const std::string path_; | ||
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| grpc::ServerCompletionQueue *cq_; | ||
| grpc::ServerContext ctx_; | ||
| ConfigRequest request_; | ||
| ConfigReply reply_; | ||
| grpc::ServerAsyncResponseWriter<ConfigReply> responder_; | ||
| }; | ||
|
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| template <class ConfigRequest, class ConfigReply> | ||
| CallData<ConfigRequest, ConfigReply>::CallData( | ||
| aruku_interfaces::proto::Config::AsyncService *service, | ||
| grpc::ServerCompletionQueue *cq, const std::string path) | ||
| : status_(CREATE), service_(service), cq_(cq), responder_(&ctx_), | ||
| path_(path) {} | ||
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| template <class ConfigRequest, class ConfigReply> | ||
| void CallData<ConfigRequest, ConfigReply>::Proceed() { | ||
| switch (status_) { | ||
| case CREATE: | ||
| status_ = PROCESS; | ||
| WaitForRequest(); | ||
| break; | ||
| case PROCESS: | ||
| AddNextToCompletionQueue(); | ||
| HandleRequest(); | ||
| status_ = FINISH; | ||
| responder_.Finish(reply_, grpc::Status::OK, this); | ||
| break; | ||
| default: | ||
| GPR_ASSERT(status_ == FINISH); | ||
| delete this; | ||
| break; | ||
| } | ||
| } | ||
|
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| } // namespace aruku | ||
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| #endif // __ARUKU__CONFIG__GRPC__CALL_DATA_HPP__ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| // Copyright (c) 2024 Ichiro ITS | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // in the Software without restriction, including without limitation the rights | ||
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| // copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in | ||
| // all copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| // THE SOFTWARE. | ||
|
|
||
| #ifndef ARUKU__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
| #define ARUKU__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
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| namespace aruku | ||
| { | ||
| class CallDataBase | ||
| { | ||
| public: | ||
| CallDataBase(); | ||
|
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| virtual void Proceed() = 0; | ||
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| protected: | ||
| virtual void WaitForRequest() = 0; | ||
| virtual void HandleRequest() = 0; | ||
| }; | ||
| } // namespace aruku | ||
|
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| #endif // ARUKU__CONFIG__GRPC__CALL_DATA_BASE_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| // Copyright (c) 2024 Ichiro ITS | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // in the Software without restriction, including without limitation the rights | ||
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| // copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in | ||
| // all copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| // THE SOFTWARE. | ||
|
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| #ifndef ARUKU__CONFIG__GRPC__CALL_DATA_GET_CONFIG_HPP__ | ||
| #define ARUKU__CONFIG__GRPC__CALL_DATA_GET_CONFIG_HPP__ | ||
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| #include "aruku/config/grpc/call_data.hpp" | ||
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| namespace aruku | ||
| { | ||
| class CallDataGetConfig | ||
| : CallData<aruku_interfaces::proto::Empty, aruku_interfaces::proto::ConfigWalking> | ||
| { | ||
| public: | ||
| CallDataGetConfig( | ||
| aruku_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path); | ||
|
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| protected: | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest() ; | ||
| void HandleRequest() ; | ||
| }; | ||
| } // namespace aruku | ||
|
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| #endif // ARUKU__CONFIG__GRPC__CALL_DATA_GET_CONFIG_HPP__ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // Copyright (c) 2024 Ichiro ITS | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // in the Software without restriction, including without limitation the rights | ||
| // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| // copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // The above copyright notice and this permission notice shall be included in | ||
| // all copies or substantial portions of the Software. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
| // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
| // THE SOFTWARE. | ||
|
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| #ifndef ARUKU__CONFIG__GRPC__CALL_DATA_PUBLISH_CONFIG_HPP__ | ||
| #define ARUKU__CONFIG__GRPC__CALL_DATA_PUBLISH_CONFIG_HPP__ | ||
|
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| #include "aruku/config/grpc/call_data.hpp" | ||
| #include "aruku_interfaces/msg/set_config.hpp" | ||
| #include "rclcpp/rclcpp.hpp" | ||
|
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| namespace aruku | ||
| { | ||
| class CallDataPublishConfig | ||
| : CallData<aruku_interfaces::proto::ConfigWalking, aruku_interfaces::proto::Empty> | ||
| { | ||
| public: | ||
| CallDataPublishConfig( | ||
| aruku_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path, rclcpp::Node::SharedPtr node); | ||
|
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| protected: | ||
| rclcpp::Node::SharedPtr node_; | ||
| rclcpp::Publisher<aruku_interfaces::msg::SetConfig>::SharedPtr set_config_publisher_; | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest(); | ||
| void HandleRequest(); | ||
| }; | ||
| } // namespace aruku | ||
|
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| #endif // ARUKU__CONFIG__GRPC__CALL_DATA_PUBLISH_CONFIG_HPP__ |
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