feat: refractor akushon

CMakeLists.txt

@@ -76,6 +76,14 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/node/config_node.cpp"
   "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.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_get_config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_save_config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_publish_set_joints.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_publish_set_torques.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_subscribe_current_joints.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_run_action.cpp"
   "src/${PROJECT_NAME}/node/akushon_node.cpp"
   "${akushon_proto_srcs}"
   "${akushon_proto_hdrs}"

include/akushon/config/grpc/call_data.hpp

@@ -0,0 +1,61 @@
+// Copyright (c) 2023 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__CALL_DATA_HPP_
+#define AKUSHON__CONFIG__GRPC__CALL_DATA_HPP_
+
+#include "akushon.grpc.pb.h"
+#include "akushon.pb.h"
+#include "grpc/support/log.h"
+#include "grpcpp/grpcpp.h"
+#include "akushon/config/grpc/call_data_base.hpp"
+
+namespace akushon
+{
+template <class ConfigRequest, class ConfigReply>
+class CallData : CallDataBase
+{
+public:
+  CallData(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path);
+
+  virtual void Proceed() override;
+
+protected:
+  virtual void AddNextToCompletionQueue() = 0;
+
+  enum CallStatus { CREATE, PROCESS, FINISH };
+
+  CallStatus status_;  // The current serving state.
+
+  akushon_interfaces::proto::Config::AsyncService * service_;
+
+  const std::string path_;
+
+  grpc::ServerCompletionQueue * cq_;
+  grpc::ServerContext ctx_;
+  ConfigRequest request_;
+  ConfigReply reply_;
+  grpc::ServerAsyncResponseWriter<ConfigReply> responder_;
+};
+}  // namespace akushon
+
+#endif  // AKUSHON__CONFIG__GRPC__CALL_DATA_HPP_

include/akushon/config/grpc/call_data_base.hpp

@@ -0,0 +1,38 @@
+// Copyright (c) 2023 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__CALL_DATA_BASE_HPP__
+#define __AKUSHON__CONFIG__GRPC__CALL_DATA_BASE_HPP__
+namespace akushon
+{
+class CallDataBase
+{
+public:
+  CallDataBase();
+
+  virtual void Proceed() = 0;
+
+protected:
+  virtual void WaitForRequest() = 0;
+  virtual void HandleRequest() = 0;
+};
+}  // namespace akushon
+
+#endif  // __AKUSHON__CONFIG__GRPC__CALL_DATA_BASE_HPP__

include/akushon/config/grpc/call_data_get_config.hpp

@@ -0,0 +1,43 @@
+// Copyright (c) 2023 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__CALL_DATA_GET_CONFIG_HPP_
+#define AKUSHON__CONFIG__GRPC__CALL_DATA_GET_CONFIG_HPP_
+
+#include "akushon/config/grpc/call_data.hpp"
+
+namespace akushon
+{
+class CallDataGetConfig
+: CallData<akushon_interfaces::proto::Empty, akushon_interfaces::proto::ConfigActions>
+{
+public:
+  CallDataGetConfig(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path);
+
+protected:
+  virtual void AddNextToCompletionQueue() override;
+  virtual void WaitForRequest() override;
+  virtual void HandleRequest() override;
+};
+}  // namespace akushon
+
+#endif  // AKUSHON__CONFIG__GRPC__CALL_DATA_GET_CONFIG_HPP_

include/akushon/config/grpc/call_data_publish_set_joints.hpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2023 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__CALL_DATA_PUBLISH_SET_JOINTS_HPP_
+#define AKUSHON__CONFIG__GRPC__CALL_DATA_PUBLISH_SET_JOINTS_HPP_
+
+#include "akushon/config/grpc/call_data.hpp"
+#include "tachimawari_interfaces/msg/set_joints.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace akushon
+{
+class CallDataPublishSetJoints
+: CallData<akushon_interfaces::proto::SetJointsData, akushon_interfaces::proto::Empty>
+{
+public:
+  CallDataPublishSetJoints(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path, rclcpp::Node::SharedPtr node);
+
+protected:
+  virtual void AddNextToCompletionQueue() override;
+  virtual void WaitForRequest() override;
+  virtual void HandleRequest() override;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Publisher<tachimawari_interfaces::msg::SetJoints>::SharedPtr set_joints_publisher_;
+};
+}  // namespace akushon
+
+#endif  // AKUSHON__CONFIG__GRPC__CALL_DATA_PUBLISH_SET_JOINTS_HPP_

include/akushon/config/grpc/call_data_publish_set_torques.hpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2023 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__CALL_DATA_PUBLISH_SET_TORQUES_HPP_
+#define AKUSHON__CONFIG__GRPC__CALL_DATA_PUBLISH_SET_TORQUES_HPP_
+
+#include "akushon/config/grpc/call_data.hpp"
+#include "tachimawari_interfaces/msg/set_torques.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace akushon
+{
+class CallDataPublishSetTorques
+: CallData<akushon_interfaces::proto::SetTorquesData, akushon_interfaces::proto::Empty>
+{
+public:
+  CallDataPublishSetTorques(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path, rclcpp::Node::SharedPtr node);
+
+protected:
+  virtual void AddNextToCompletionQueue() override;
+  virtual void WaitForRequest() override;
+  virtual void HandleRequest() override;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Publisher<tachimawari_interfaces::msg::SetTorques>::SharedPtr set_torque_publisher_;
+};
+}  // namespace akushon
+
+#endif  // AKUSHON__CONFIG__GRPC__CALL_DATA_PUBLISH_SET_TORQUES_HPP_

include/akushon/config/grpc/call_data_run_action.hpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2023 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__CALL_DATA_RUN_ACTION_HPP_
+#define AKUSHON__CONFIG__GRPC__CALL_DATA_RUN_ACTION_HPP_
+
+#include "akushon/config/grpc/call_data.hpp"
+#include "akushon_interfaces/msg/run_action.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+namespace akushon
+{
+class CallDataRunAction
+: CallData<akushon_interfaces::proto::ConfigRunAction, akushon_interfaces::proto::Empty>
+{
+public:
+  CallDataRunAction(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path, rclcpp::Node::SharedPtr node);
+
+protected:
+  virtual void AddNextToCompletionQueue() override;
+  virtual void WaitForRequest() override;
+  virtual void HandleRequest() override;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Publisher<akushon_interfaces::msg::RunAction>::SharedPtr run_action_publisher_;
+};
+}  // namespace akushon
+
+#endif  // AKUSHON__CONFIG__GRPC__CALL_DATA_RUN_ACTION_HPP_

include/akushon/config/grpc/call_data_save_config.hpp

@@ -0,0 +1,43 @@
+// Copyright (c) 2023 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__SAVE_CONFIG_HPP_
+#define AKUSHON__CONFIG__GRPC__SAVE_CONFIG_HPP_
+
+#include "akushon/config/grpc/call_data.hpp"
+
+namespace akushon
+{
+class CallDataSaveConfig
+: CallData<akushon_interfaces::proto::ConfigActions, akushon_interfaces::proto::Empty>
+{
+public:
+  CallDataSaveConfig(
+    akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string path);
+
+protected:
+  virtual void AddNextToCompletionQueue() override;
+  virtual void WaitForRequest() override;
+  virtual void HandleRequest() override;
+};
+}  // namespace akushon
+
+#endif // AKUSHON__CONFIG__GRPC__SAVE_CONFIG_HPP_