feat: refractor and resolve pull request

ichiro-its · Dec 26, 2023 · f04416b · f04416b
1 parent 0f771fe
commit f04416b
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Showing 17 changed files with 60 additions and 128 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -8,7 +8,6 @@ endif()
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
-set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -fPIC" )
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
@@ -27,25 +26,13 @@ set(protobuf_MODULE_COMPATIBLE TRUE)
 find_package(Protobuf CONFIG REQUIRED)
 message(STATUS "Using protobuf ${Protobuf_VERSION}")
 
-set(_PROTOBUF_LIBPROTOBUF protobuf::libprotobuf)
-set(_REFLECTION gRPC::grpc++_reflection)
-if(CMAKE_CROSSCOMPILING)
-  find_program(_PROTOBUF_PROTOC protoc)
-else()
-  set(_PROTOBUF_PROTOC $<TARGET_FILE:protobuf::protoc>)
-endif()
-
 # Find gRPC installation
 # Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
 find_package(gRPC CONFIG REQUIRED)
 message(STATUS "Using gRPC ${gRPC_VERSION}")
 
 set(_GRPC_GRPCPP gRPC::grpc++)
-if(CMAKE_CROSSCOMPILING)
-  find_program(_GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin)
-else()
-  set(_GRPC_CPP_PLUGIN_EXECUTABLE $<TARGET_FILE:gRPC::grpc_cpp_plugin>)
-endif()
+set(_GRPC_CPP_PLUGIN_EXECUTABLE $<TARGET_FILE:gRPC::grpc_cpp_plugin>)
 
 # Proto file
 get_filename_component(akushon_proto "../akushon_interfaces/proto/akushon.proto" ABSOLUTE)
@@ -104,9 +91,9 @@ ament_target_dependencies(${PROJECT_NAME}
   gRPC)
 
   target_link_libraries(${PROJECT_NAME}
-  ${_REFLECTION}
+  gRPC::grpc++_reflection
   ${_GRPC_GRPCPP}
-  ${_PROTOBUF_LIBPROTOBUF}
+  protobuf::libprotobuf
 )
 
 install(DIRECTORY "include" DESTINATION ".")
@@ -118,6 +105,8 @@ install(TARGETS ${PROJECT_NAME}
   RUNTIME DESTINATION "bin"
   INCLUDES DESTINATION "include")
 
+target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
+
 add_executable(action "src/action_main.cpp")
 target_include_directories(action PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

diff --git a/include/akushon/config/grpc/call_data.hpp b/include/akushon/config/grpc/call_data.hpp
@@ -35,20 +35,34 @@ class CallData : CallDataBase
 public:
   CallData(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path);
-
-  virtual void Proceed() override;
+    const std::string& path) : status_(CallStatus::CREATE), service_(service), cq_(cq), responder_(&ctx_), path_(path)
+{
+}
+  void Proceed() override {
+    if (status_ == CallStatus::CREATE) {
+    status_ = CallStatus::PROCESS;
+    WaitForRequest();
+  } else if (status_ == CallStatus::PROCESS) {
+    AddNextToCompletionQueue();
+    HandleRequest();
+    status_ = CallStatus::FINISH;
+    responder_.Finish(reply_, grpc::Status::OK, this);
+  } else {
+    GPR_ASSERT(status_ == CallStatus::FINISH);
+    delete this;
+  }
+  }
 
 protected:
   virtual void AddNextToCompletionQueue() = 0;
 
-  enum CallStatus { CREATE, PROCESS, FINISH };
+  enum class CallStatus { CREATE, PROCESS, FINISH };
 
   CallStatus status_;  // The current serving state.
 
   akushon_interfaces::proto::Config::AsyncService * service_;
 
-  const std::string path_;
+  const std::string& path_;
 
   grpc::ServerCompletionQueue * cq_;
   grpc::ServerContext ctx_;

diff --git a/include/akushon/config/grpc/call_data_get_config.hpp b/include/akushon/config/grpc/call_data_get_config.hpp
@@ -31,12 +31,12 @@ class CallDataGetConfig
 public:
   CallDataGetConfig(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path);
+    const std::string& path);
 
 protected:
-  virtual void AddNextToCompletionQueue() override;
-  virtual void WaitForRequest() override;
-  virtual void HandleRequest() override;
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
 };
 }  // namespace akushon
 

diff --git a/include/akushon/config/grpc/call_data_publish_set_joints.hpp b/include/akushon/config/grpc/call_data_publish_set_joints.hpp
@@ -33,12 +33,12 @@ class CallDataPublishSetJoints
 public:
   CallDataPublishSetJoints(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path, rclcpp::Node::SharedPtr node);
+    const std::string& path, rclcpp::Node::SharedPtr& node);
 
 protected:
-  virtual void AddNextToCompletionQueue() override;
-  virtual void WaitForRequest() override;
-  virtual void HandleRequest() override;
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
   rclcpp::Node::SharedPtr node_;
   rclcpp::Publisher<tachimawari_interfaces::msg::SetJoints>::SharedPtr set_joints_publisher_;
 };

diff --git a/include/akushon/config/grpc/call_data_publish_set_torques.hpp b/include/akushon/config/grpc/call_data_publish_set_torques.hpp
@@ -33,7 +33,7 @@ class CallDataPublishSetTorques
 public:
   CallDataPublishSetTorques(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path, rclcpp::Node::SharedPtr node);
+    const std::string& path, rclcpp::Node::SharedPtr& node);
 
 protected:
   virtual void AddNextToCompletionQueue() override;

diff --git a/include/akushon/config/grpc/call_data_run_action.hpp b/include/akushon/config/grpc/call_data_run_action.hpp
@@ -33,12 +33,12 @@ class CallDataRunAction
 public:
   CallDataRunAction(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path, rclcpp::Node::SharedPtr node);
+    const std::string& path, rclcpp::Node::SharedPtr& node);
 
 protected:
-  virtual void AddNextToCompletionQueue() override;
-  virtual void WaitForRequest() override;
-  virtual void HandleRequest() override;
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
   rclcpp::Node::SharedPtr node_;
   rclcpp::Publisher<akushon_interfaces::msg::RunAction>::SharedPtr run_action_publisher_;
 };

diff --git a/include/akushon/config/grpc/call_data_save_config.hpp b/include/akushon/config/grpc/call_data_save_config.hpp
@@ -31,12 +31,12 @@ class CallDataSaveConfig
 public:
   CallDataSaveConfig(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path);
+    const std::string& path);
 
 protected:
-  virtual void AddNextToCompletionQueue() override;
-  virtual void WaitForRequest() override;
-  virtual void HandleRequest() override;
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
 };
 }  // namespace akushon
 

diff --git a/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp b/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp
@@ -34,12 +34,12 @@ class CallDataSubscribeCurrentJoints
 public:
   CallDataSubscribeCurrentJoints(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string path, rclcpp::Node::SharedPtr node);
+    const std::string& path, rclcpp::Node::SharedPtr& node);
 
 protected:
-  virtual void AddNextToCompletionQueue() override;
-  virtual void WaitForRequest() override;
-  virtual void HandleRequest() override;
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
   rclcpp::Node::SharedPtr node_;
   rclcpp::Subscription<tachimawari_interfaces::msg::CurrentJoints>::SharedPtr
     current_joint_subscription_;

diff --git a/include/akushon/config/grpc/config.hpp b/include/akushon/config/grpc/config.hpp
@@ -50,11 +50,10 @@ class ConfigGrpc
 
   ~ConfigGrpc();
 
-  void Run(uint16_t port, const std::string path, rclcpp::Node::SharedPtr node);
+  void Run(uint16_t port, const std::string& path, rclcpp::Node::SharedPtr& node);
 
 private:
-  std::string path;
-  static void SignIntHandler(int signum);              
+  std::string path;  
 
   static inline std::unique_ptr<grpc::ServerCompletionQueue> cq_;
   static inline std::unique_ptr<grpc::Server> server_;

diff --git a/src/akushon/config/grpc/call_data.cpp b/src/akushon/config/grpc/call_data.cpp
diff --git a/src/akushon/config/grpc/call_data_get_config.cpp b/src/akushon/config/grpc/call_data_get_config.cpp
@@ -27,7 +27,7 @@ namespace akushon
 
 CallDataGetConfig::CallDataGetConfig(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path)
+  const std::string& path)
 : CallData(service, cq, path)
 {
   Proceed();

diff --git a/src/akushon/config/grpc/call_data_publish_set_joints.cpp b/src/akushon/config/grpc/call_data_publish_set_joints.cpp
@@ -26,7 +26,7 @@ namespace akushon
 {
 CallDataPublishSetJoints::CallDataPublishSetJoints(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path, rclcpp::Node::SharedPtr node)
+  const std::string& path, rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   set_joints_publisher_ =
@@ -62,8 +62,6 @@ void CallDataPublishSetJoints::HandleRequest()
     set_joints_publisher_->publish(set_joints_);
 
     RCLCPP_INFO(rclcpp::get_logger("PublishSetJoints"), "set joints has been published!");
-  } catch (std::ofstream::failure f) {
-    RCLCPP_ERROR(rclcpp::get_logger("PublishSetJoints"), f.what());
   } catch (nlohmann::json::exception e) {
     RCLCPP_ERROR(rclcpp::get_logger("PublishSetJoints"), e.what());
   }

diff --git a/src/akushon/config/grpc/call_data_publish_set_torques.cpp b/src/akushon/config/grpc/call_data_publish_set_torques.cpp
@@ -27,7 +27,7 @@ namespace akushon
 {
 CallDataPublishSetTorques::CallDataPublishSetTorques(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path, rclcpp::Node::SharedPtr node)
+  const std::string& path, rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   set_torque_publisher_ =
@@ -59,9 +59,6 @@ void CallDataPublishSetTorques::HandleRequest()
     set_torque_publisher_->publish(set_torque);
     RCLCPP_INFO(rclcpp::get_logger("PublishSetTorques"), "set torques has been published!");
 
-  } catch (std::ofstream::failure f) {
-    RCLCPP_ERROR(rclcpp::get_logger("PublishSetTorques"), f.what());
-
   } catch (nlohmann::json::exception e) {
     RCLCPP_ERROR(rclcpp::get_logger("PublishSetTorques"), e.what());
   }

diff --git a/src/akushon/config/grpc/call_data_run_action.cpp b/src/akushon/config/grpc/call_data_run_action.cpp
@@ -26,7 +26,7 @@ namespace akushon
 {
 CallDataRunAction::CallDataRunAction(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path, rclcpp::Node::SharedPtr node)
+  const std::string& path, rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   run_action_publisher_ =

diff --git a/src/akushon/config/grpc/call_data_save_config.cpp b/src/akushon/config/grpc/call_data_save_config.cpp
@@ -28,7 +28,7 @@ namespace akushon
 
 CallDataSaveConfig::CallDataSaveConfig(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path)
+  const std::string& path)
 : CallData(service, cq, path)
 {
   Proceed();
@@ -51,8 +51,6 @@ void CallDataSaveConfig::HandleRequest()
     nlohmann::json akushon_data = nlohmann::json::parse(request_.json_actions());
     config.save_config(akushon_data);
     RCLCPP_INFO(rclcpp::get_logger("SaveConfig"), "config has been saved!");
-  } catch (std::ofstream::failure f) {
-    RCLCPP_ERROR(rclcpp::get_logger("SaveConfig"), f.what());
   } catch (nlohmann::json::exception e) {
     RCLCPP_ERROR(rclcpp::get_logger("SaveConfig"), e.what());
   }

diff --git a/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp b/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp
@@ -30,7 +30,7 @@ namespace akushon
 {
 CallDataSubscribeCurrentJoints::CallDataSubscribeCurrentJoints(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string path, rclcpp::Node::SharedPtr node)
+  const std::string& path, rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   Proceed();
@@ -66,8 +66,6 @@ void CallDataSubscribeCurrentJoints::HandleRequest()
     reply_.set_msg_joints(curr_joints.dump());
     RCLCPP_INFO(rclcpp::get_logger("PublishSetTorques"), "curr joints has been sended!");
     current_joint_subscription_.reset();
-  } catch (std::ofstream::failure f) {
-    RCLCPP_ERROR(rclcpp::get_logger("PublishSetTorques"), f.what());
   } catch (nlohmann::json::exception e) {
     RCLCPP_ERROR(rclcpp::get_logger("PublishSetTorques"), e.what());
   }

diff --git a/src/akushon/config/grpc/config.cpp b/src/akushon/config/grpc/config.cpp
@@ -48,14 +48,7 @@ ConfigGrpc::~ConfigGrpc()
   cq_->Shutdown();
 }
 
-void ConfigGrpc::SignIntHandler(int signum)
-{
-  server_->Shutdown();
-  cq_->Shutdown();
-  exit(signum);
-}
-
-void ConfigGrpc::Run(uint16_t port, const std::string path, rclcpp::Node::SharedPtr node)
+void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::SharedPtr& node)
 {
   std::string server_address = absl::StrFormat("0.0.0.0:%d", port);
 
@@ -67,8 +60,12 @@ void ConfigGrpc::Run(uint16_t port, const std::string path, rclcpp::Node::Shared
   server_ = builder.BuildAndStart();
   std::cout << "Server listening on " << server_address << std::endl;
 
-  signal(SIGINT, SignIntHandler);
-  async_server = std::thread([&path, this, &node]() {
+  std::signal(SIGINT, [](int signum) {
+    server_->Shutdown();
+    cq_->Shutdown();
+    exit(signum);
+  });
+  async_server = std::thread([path, this, &node]() {
     new CallDataGetConfig(&service_, cq_.get(), path);
     new CallDataSaveConfig(&service_, cq_.get(), path);
     new CallDataPublishSetJoints(&service_, cq_.get(), path, node);