[Sprint 22 / PD-368] - [Feature] Create gRPC Service on Akushon ROS2

CMakeLists.txt

@@ -22,6 +22,16 @@ find_package(std_msgs REQUIRED)
 find_package(tachimawari REQUIRED)
 find_package(tachimawari_interfaces REQUIRED)
 
+set(protobuf_MODULE_COMPATIBLE TRUE)
+find_package(Protobuf CONFIG REQUIRED)
+message(STATUS "Using protobuf ${Protobuf_VERSION}")
+
+# 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_CPP_PLUGIN_EXECUTABLE $<TARGET_FILE:gRPC::grpc_cpp_plugin>)
+
 add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/action/model/action_name.cpp"
   "src/${PROJECT_NAME}/action/model/action.cpp"
@@ -32,9 +42,18 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/action/process/joint_process.cpp"
   "src/${PROJECT_NAME}/config/node/config_node.cpp"
   "src/${PROJECT_NAME}/config/utils/config.cpp"
-  "src/${PROJECT_NAME}/node/akushon_node.cpp")
+  "src/${PROJECT_NAME}/config/grpc/config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_base.cpp"  
+  "src/${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"
+  )
 
-target_include_directories(${PROJECT_NAME} PUBLIC
+target_include_directories(${PROJECT_NAME} PUBLIC  
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
@@ -45,15 +64,25 @@ ament_target_dependencies(${PROJECT_NAME}
   rclcpp_action
   std_msgs
   tachimawari
-  tachimawari_interfaces)
+  tachimawari_interfaces
+  gRPC)
+
+  target_link_libraries(${PROJECT_NAME}
+  gRPC::grpc++_reflection
+  gRPC::grpc++
+  protobuf::libprotobuf
+)
 
 install(DIRECTORY "include" DESTINATION ".")
 
 install(TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION "lib"
   LIBRARY DESTINATION "lib"
-  RUNTIME DESTINATION "bin")
+  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

include/akushon/config/grpc/call_data.hpp

@@ -0,0 +1,75 @@
+// 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_interfaces/akushon.grpc.pb.h"
+#include "akushon_interfaces/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) : 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 class 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:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  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:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  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:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  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_