Merge pull request #48 from ichiro-its/feature/brake-action-service

[Feature] Add Brake Action Service

CMakeLists.txt

@@ -43,6 +43,7 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/utils/config.cpp"
   "src/${PROJECT_NAME}/config/grpc/config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_base.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_brake_action.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_get_config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_save_config.cpp"

include/akushon/config/grpc/call_data_brake_action.hpp

@@ -0,0 +1,45 @@
+// 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 AKUSHON__CONFIG__GRPC__BRAKE_ACTION_HPP_
+#define AKUSHON__CONFIG__GRPC__BRAKE_ACTION_HPP_
+
+#include "akushon/action/node/action_manager.hpp"
+#include "akushon/config/grpc/call_data.hpp"
+
+namespace akushon
+{
+class CallDataBrakeAction
+: CallData<akushon_interfaces::proto::Empty, akushon_interfaces::proto::Empty>
+{
+public:
+  CallDataBrakeAction(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string& path, const std::shared_ptr<ActionManager>& action_manager);
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+  std::shared_ptr<ActionManager> action_manager_;
+};
+}  // namespace akushon
+
+#endif // AKUSHON__CONFIG__GRPC__BRAKE_ACTION_HPP_

src/akushon/config/grpc/call_data_brake_action.cpp

@@ -0,0 +1,58 @@
+// 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.
+
+#include "akushon/config/grpc/call_data_brake_action.hpp"
+#include "akushon/config/utils/config.hpp"
+
+#include <nlohmann/json.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace akushon
+{
+
+CallDataBrakeAction::CallDataBrakeAction(
+  akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+  const std::string& path, const std::shared_ptr<ActionManager>& action_manager)
+: CallData(service, cq, path), action_manager_(action_manager)
+{
+  Proceed();
+}
+
+void CallDataBrakeAction::AddNextToCompletionQueue()
+{
+  new CallDataBrakeAction(service_, cq_, path_, action_manager_);
+}
+
+void CallDataBrakeAction::WaitForRequest()
+{
+  service_->RequestBrakeAction(&ctx_, &request_, &responder_, cq_, cq_, this);
+}
+
+void CallDataBrakeAction::HandleRequest()
+{
+  try {
+    action_manager_->brake();
+    RCLCPP_INFO(rclcpp::get_logger("BrakeAction"), "Action has been braked!");
+  } catch (nlohmann::json::exception e) {
+    RCLCPP_ERROR(rclcpp::get_logger("BrakeAction"), e.what());
+  }
+}
+
+} // namespace akushon

src/akushon/config/grpc/config.cpp

@@ -27,6 +27,7 @@
 
 #include "akushon/config/utils/config.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "akushon/config/grpc/call_data_brake_action.hpp"
 #include "akushon/config/grpc/call_data_get_config.hpp"
 #include "akushon/config/grpc/call_data_load_config.hpp"
 #include "akushon/config/grpc/call_data_save_config.hpp"
@@ -68,6 +69,7 @@ void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::Share
     exit(signum);
   });
   async_server = std::thread([path, this, &node, &action_manager]() {
+    new CallDataBrakeAction(&service_, cq_.get(), path, action_manager);
     new CallDataGetConfig(&service_, cq_.get(), path);
     new CallDataSaveConfig(&service_, cq_.get(), path, action_manager);
     new CallDataPublishSetJoints(&service_, cq_.get(), path, node);