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Merge pull request #15 from ichiro-its/feature/fix-grpc
[Sprint 22/23 / PD-405] [Feature] Add implementation GRPC
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| // 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_HPP__ | ||
| #define __NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_HPP__ | ||
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| #include "ninshiki_cpp/config/grpc/call_data_base.hpp" | ||
| #include "ninshiki_interfaces/ninshiki.grpc.pb.h" | ||
| #include "ninshiki_interfaces/ninshiki.pb.h" | ||
| #include "grpc/support/log.h" | ||
| #include "grpcpp/grpcpp.h" | ||
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| namespace ninshiki_cpp | ||
| { | ||
| template <class ConfigRequest, class ConfigReply> | ||
| class CallData : public CallDataBase | ||
| { | ||
| public: | ||
| CallData( | ||
| ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path); | ||
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| void Proceed(); | ||
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| protected: | ||
| virtual void AddNextToCompletionQueue() = 0; | ||
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| enum CallStatus { CREATE, PROCESS, FINISH }; | ||
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| CallStatus status_; // The current serving state. | ||
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| ninshiki_interfaces::proto::Config::AsyncService * service_; | ||
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| const std::string path_; | ||
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| grpc::ServerCompletionQueue * cq_; | ||
| grpc::ServerContext ctx_; | ||
| ConfigRequest request_; | ||
| ConfigReply reply_; | ||
| grpc::ServerAsyncResponseWriter<ConfigReply> responder_; | ||
| }; | ||
|
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| template <class ConfigRequest, class ConfigReply> | ||
| CallData<ConfigRequest, ConfigReply>::CallData( | ||
| ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path) | ||
| : status_(CREATE), service_(service), cq_(cq), responder_(&ctx_), path_(path) | ||
| { | ||
| } | ||
|
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| template <class ConfigRequest, class ConfigReply> | ||
| void CallData<ConfigRequest, ConfigReply>::Proceed() | ||
| { | ||
| if (status_ == CREATE) { | ||
| status_ = PROCESS; | ||
| WaitForRequest(); | ||
| } else if (status_ == PROCESS) { | ||
| AddNextToCompletionQueue(); | ||
| HandleRequest(); | ||
| status_ = FINISH; | ||
| responder_.Finish(reply_, grpc::Status::OK, this); | ||
| } else { | ||
| GPR_ASSERT(status_ == FINISH); | ||
| delete this; | ||
| } | ||
| } | ||
|
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| } // namespace ninshiki_cpp | ||
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| #endif // __NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_HPP__ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| // 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. | ||
|
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| #ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
| #define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
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| namespace ninshiki_cpp | ||
| { | ||
| class CallDataBase | ||
| { | ||
| public: | ||
| virtual void Proceed() = 0; | ||
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| protected: | ||
| virtual void WaitForRequest() = 0; | ||
| virtual void HandleRequest() = 0; | ||
| }; | ||
| } // namespace ninshiki_cpp | ||
|
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| #endif // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ |
43 changes: 43 additions & 0 deletions
43
include/ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| // 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. | ||
|
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| #ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__ | ||
| #define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__ | ||
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| #include <ninshiki_cpp/config/grpc/call_data.hpp> | ||
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| namespace ninshiki_cpp | ||
| { | ||
| class CallDataGetColorSetting | ||
| : CallData<ninshiki_interfaces::proto::Empty, ninshiki_interfaces::proto::ConfigColor> | ||
| { | ||
| public: | ||
| CallDataGetColorSetting( | ||
| ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path); | ||
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| protected: | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest() override; | ||
| void HandleRequest() override; | ||
| }; | ||
| } // namespace ninshiki_cpp | ||
|
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| #endif // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__ |
45 changes: 45 additions & 0 deletions
45
include/ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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 NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__ | ||
| #define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__ | ||
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| #include <ninshiki_cpp/config/grpc/call_data.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
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| namespace ninshiki_cpp | ||
| { | ||
| class CallDataSaveColorSetting | ||
| : CallData<ninshiki_interfaces::proto::ConfigColor, ninshiki_interfaces::proto::Empty> | ||
| { | ||
| public: | ||
| CallDataSaveColorSetting( | ||
| ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path); | ||
|
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| protected: | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest() override; | ||
| void HandleRequest() override; | ||
| }; | ||
|
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| } // namespace ninshiki_cpp | ||
|
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| #endif // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__ |
48 changes: 48 additions & 0 deletions
48
include/ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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_SET_COLOR_SETTING_HPP__ | ||
| #define NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__ | ||
|
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| #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> | ||
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| namespace ninshiki_cpp | ||
| { | ||
| class CallDataSetColorSetting | ||
| : CallData<ninshiki_interfaces::proto::ColorSetting, ninshiki_interfaces::proto::Empty> | ||
| { | ||
| public: | ||
| CallDataSetColorSetting( | ||
| 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; | ||
|
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| protected: | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest() override; | ||
| void HandleRequest() override; | ||
| std::shared_ptr<ColorDetector> color_detection_; | ||
| }; | ||
| } // namespace ninshiki_cpp | ||
|
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| #endif // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__ |
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