Merge pull request #16 from ichiro-its/enhancement/load-config-for-se…

…rver

[Enhancement] Create Load Config For Server

CMakeLists.txt

@@ -33,6 +33,7 @@ message(STATUS "Using gRPC ${gRPC_VERSION}")
 add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/grpc/config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_get_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_save_color_setting.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_set_color_setting.cpp"
   "src/${PROJECT_NAME}/config/utils/config.cpp"

include/ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp

@@ -21,7 +21,7 @@
 #ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__
 #define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__
 
-#include <ninshiki_cpp/config/grpc/call_data.hpp>
+#include "ninshiki_cpp/config/grpc/call_data.hpp"
 
 namespace ninshiki_cpp
 {

include/ninshiki_cpp/config/grpc/call_data_load_config.hpp

@@ -0,0 +1,48 @@
+// 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 NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__
+#define NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__
+
+#include "rclcpp/rclcpp.hpp"
+#include "ninshiki_cpp/config/grpc/call_data.hpp"
+#include "ninshiki_cpp/detector/color_detector.hpp"
+#include "ninshiki_cpp/utils/color.hpp"
+
+namespace ninshiki_cpp
+{
+class CallDataLoadConfig
+: CallData<ninshiki_interfaces::proto::Empty, ninshiki_interfaces::proto::Empty>
+{
+public:
+  CallDataLoadConfig(
+    ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path, std::shared_ptr<ninshiki_cpp::detector::ColorDetector> color_detection);
+    using ColorDetector = ninshiki_cpp::detector::ColorDetector;
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+  std::shared_ptr<ColorDetector> color_detection_;
+};
+}  // namespace ninshiki_cpp
+
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__

include/ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp

@@ -21,8 +21,8 @@
 #ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__
 #define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__
 
-#include <ninshiki_cpp/config/grpc/call_data.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include "ninshiki_cpp/config/grpc/call_data.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 namespace ninshiki_cpp
 {

include/ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp

@@ -21,10 +21,10 @@
 #ifndef NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__
 #define NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__
 
-#include <rclcpp/rclcpp.hpp>
-#include <ninshiki_cpp/config/grpc/call_data.hpp>
-#include <ninshiki_cpp/detector/color_detector.hpp>
-#include <ninshiki_cpp/utils/color.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "ninshiki_cpp/config/grpc/call_data.hpp"
+#include "ninshiki_cpp/detector/color_detector.hpp"
+#include "ninshiki_cpp/utils/color.hpp"
 
 namespace ninshiki_cpp
 {

include/ninshiki_cpp/config/grpc/config.hpp

@@ -21,10 +21,10 @@
 #ifndef NINSHIKI_CPP__CONFIG__GRPC__CONFIG_HPP_
 #define NINSHIKI_CPP__CONFIG__GRPC__CONFIG_HPP_
 
-#include <grpcpp/grpcpp.h>
-#include <ninshiki_cpp/detector/color_detector.hpp>
-#include <ninshiki_interfaces/ninshiki.grpc.pb.h>
-#include <ninshiki_interfaces/ninshiki.pb.h>
+#include "grpcpp/grpcpp.h"
+#include "ninshiki_cpp/detector/color_detector.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
 
 #include <memory>
 #include <thread>

include/ninshiki_cpp/detector/color_detector.hpp

@@ -21,22 +21,21 @@
 #ifndef NINSHIKI_CPP__DETECTOR__COLOR_DETECTOR_HPP_
 #define NINSHIKI_CPP__DETECTOR__COLOR_DETECTOR_HPP_
 
-#include <opencv2/opencv.hpp>
-#include <cmath>
-
-#include <sstream>
-#include <fstream>
-#include <string>
-#include <vector>
-#include <map>
-
 #include "keisan/geometry/point_2.hpp"
+#include "ninshiki_cpp/detector/detector.hpp"
+#include "ninshiki_cpp/utils/color.hpp"
+#include "ninshiki_cpp/utils/utils.hpp"
 #include "ninshiki_interfaces/msg/point.hpp"
 #include "ninshiki_interfaces/msg/contour.hpp"
 #include "ninshiki_interfaces/msg/contours.hpp"
-#include "ninshiki_cpp/utils/color.hpp"
-#include "ninshiki_cpp/utils/utils.hpp"
-#include "ninshiki_cpp/detector/detector.hpp"
+
+#include <cmath>
+#include <fstream>
+#include <map>
+#include <opencv2/opencv.hpp>
+#include <sstream>
+#include <string>
+#include <vector>
 
 namespace ninshiki_cpp::detector
 {

include/ninshiki_cpp/detector/detector.hpp

@@ -21,15 +21,15 @@
 #ifndef NINSHIKI_CPP__DETECTOR__DETECTOR_HPP_
 #define NINSHIKI_CPP__DETECTOR__DETECTOR_HPP_
 
-#include <opencv2/core.hpp>
-#include <opencv2/objdetect.hpp>
-#include <vector>
-#include <string>
-
 #include "ninshiki_cpp/utils/utils.hpp"
 #include "ninshiki_interfaces/msg/detected_object.hpp"
 #include "ninshiki_interfaces/msg/detected_objects.hpp"
 
+#include <opencv2/core.hpp>
+#include <opencv2/objdetect.hpp>
+#include <string>
+#include <vector>
+
 namespace ninshiki_cpp::detector
 {
 

include/ninshiki_cpp/detector/dnn_detector.hpp

@@ -21,19 +21,18 @@
 #ifndef NINSHIKI_CPP__DETECTOR__DNN_DETECTOR_HPP_
 #define NINSHIKI_CPP__DETECTOR__DNN_DETECTOR_HPP_
 
-#include <opencv2/dnn.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/highgui.hpp>
+#include "ninshiki_cpp/detector/detector.hpp"
+#include "ninshiki_cpp/utils/utils.hpp"
+#include "ninshiki_interfaces/msg/detected_object.hpp"
+#include "ninshiki_interfaces/msg/detected_objects.hpp"
 
 #include <fstream>
+#include <opencv2/dnn.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
 #include <string>
 #include <vector>
 
-#include "ninshiki_cpp/detector/detector.hpp"
-#include "ninshiki_interfaces/msg/detected_object.hpp"
-#include "ninshiki_interfaces/msg/detected_objects.hpp"
-#include "ninshiki_cpp/utils/utils.hpp"
-
 namespace ninshiki_cpp::detector
 {
 

include/ninshiki_cpp/detector/lbp_detector.hpp

@@ -21,16 +21,16 @@
 #ifndef NINSHIKI_CPP__DETECTOR__LBP_DETECTOR_HPP_
 #define NINSHIKI_CPP__DETECTOR__LBP_DETECTOR_HPP_
 
-#include <opencv2/core.hpp>
-#include <opencv2/objdetect.hpp>
-#include <vector>
-#include <string>
-
-#include "ninshiki_cpp/utils/utils.hpp"
 #include "ninshiki_cpp/detector/detector.hpp"
+#include "ninshiki_cpp/utils/utils.hpp"
 #include "ninshiki_interfaces/msg/detected_object.hpp"
 #include "ninshiki_interfaces/msg/detected_objects.hpp"
 
+#include <opencv2/core.hpp>
+#include <opencv2/objdetect.hpp>
+#include <string>
+#include <vector>
+
 namespace ninshiki_cpp::detector
 {
 class LBPDetector : public Detector

include/ninshiki_cpp/node/ninshiki_cpp_node.hpp

@@ -21,23 +21,22 @@
 #ifndef NINSHIKI_CPP__NODE__NINSHIKI_CPP_NODE_HPP_
 #define NINSHIKI_CPP__NODE__NINSHIKI_CPP_NODE_HPP_
 
-#include <opencv2/dnn.hpp>
-#include <opencv2/imgproc.hpp>
-#include <opencv2/highgui.hpp>
-
-#include <memory>
-#include <string>
-
-#include "rclcpp/rclcpp.hpp"
-#include "sensor_msgs/msg/image.hpp"
 #include "ninshiki_cpp/config/grpc/config.hpp"
 #include "ninshiki_cpp/detector/color_detector.hpp"
 #include "ninshiki_cpp/detector/detector.hpp"
 #include "ninshiki_cpp/detector/dnn_detector.hpp"
 #include "ninshiki_cpp/detector/lbp_detector.hpp"
 #include "ninshiki_interfaces/msg/detected_objects.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/image.hpp"
 #include "shisen_cpp/shisen_cpp.hpp"
 
+#include <memory>
+#include <opencv2/dnn.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include <string>
+
 namespace ninshiki_cpp::node
 {
 

include/ninshiki_cpp/utils/contours.hpp

@@ -21,12 +21,12 @@
 #ifndef NINSHIKI_CPP__UTILS__CONTOURS_HPP_
 #define NINSHIKI_CPP__UTILS__CONTOURS_HPP_
 
-#include <string>
-#include <vector>
-
 #include "opencv2/opencv.hpp"
 #include "keisan/keisan.hpp"
 
+#include <string>
+#include <vector>
+
 namespace ninshiki_cpp::utils
 {
 

src/ninshiki_cpp/config/grpc/call_data_get_color_setting.cpp

@@ -18,11 +18,11 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include <ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp>
-#include <ninshiki_cpp/config/utils/config.hpp>
-#include <ninshiki_interfaces/ninshiki.grpc.pb.h>
-#include <ninshiki_interfaces/ninshiki.pb.h>
-#include <rclcpp/rclcpp.hpp>
+#include "ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp"
+#include "ninshiki_cpp/config/utils/config.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
+#include "rclcpp/rclcpp.hpp"
 
 namespace ninshiki_cpp
 {

src/ninshiki_cpp/config/grpc/call_data_load_config.cpp

@@ -0,0 +1,59 @@
+// 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 "ninshiki_cpp/config/grpc/call_data_load_config.hpp"
+#include "ninshiki_cpp/config/utils/config.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
+#include "rclcpp/rclcpp.hpp"
+
+namespace ninshiki_cpp
+{
+CallDataLoadConfig::CallDataLoadConfig(
+  ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+  const std::string & path, std::shared_ptr<ninshiki_cpp::detector::ColorDetector> color_detection)
+: CallData(service, cq, path), color_detection_(color_detection)
+{
+  Proceed();
+}
+
+void CallDataLoadConfig::AddNextToCompletionQueue()
+{
+  new CallDataLoadConfig(service_, cq_, path_, color_detection_);
+}
+
+void CallDataLoadConfig::WaitForRequest()
+{
+  service_->RequestLoadConfig(&ctx_, &request_, &responder_, cq_, cq_, this);
+}
+
+void CallDataLoadConfig::HandleRequest()
+{
+  try {
+    color_detection_->load_configuration(path_);
+
+    RCLCPP_INFO(
+      rclcpp::get_logger("Load config"), "config has been loaded!"
+    );
+  } catch (nlohmann::json::exception e) {
+    RCLCPP_ERROR(rclcpp::get_logger("Load config"), e.what());
+  }
+}
+}  // namespace ninshiki_cpp

src/ninshiki_cpp/config/grpc/call_data_save_color_setting.cpp

@@ -18,12 +18,12 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include <ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp>
-#include <ninshiki_cpp/config/utils/config.hpp>
-#include <ninshiki_interfaces/ninshiki.grpc.pb.h>
-#include <ninshiki_interfaces/ninshiki.pb.h>
-#include <nlohmann/json.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include "ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp"
+#include "ninshiki_cpp/config/utils/config.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
+#include "nlohmann/json.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 namespace ninshiki_cpp
 {

src/ninshiki_cpp/config/grpc/call_data_set_color_setting.cpp

@@ -18,11 +18,11 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include <ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp>
-#include <ninshiki_cpp/config/utils/config.hpp>
-#include <ninshiki_interfaces/ninshiki.grpc.pb.h>
-#include <ninshiki_interfaces/ninshiki.pb.h>
-#include <rclcpp/rclcpp.hpp>
+#include "ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp"
+#include "ninshiki_cpp/config/utils/config.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
+#include "rclcpp/rclcpp.hpp"
 
 namespace ninshiki_cpp
 {