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Merge pull request #25 from ichiro-its/feature/using-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 +1,93 @@ | ||
| // 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 __SHISEN_CPP__CONFIG__GRPC__CALL_DATA_HPP__ | ||
| #define __SHISEN_CPP__CONFIG__GRPC__CALL_DATA_HPP__ | ||
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| #include <shisen_cpp/config/grpc/call_data_base.hpp> | ||
| #include <shisen_interfaces/shisen.grpc.pb.h> | ||
| #include <shisen_interfaces/shisen.pb.h> | ||
|
|
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| enum class CallStatus | ||
| { | ||
| CREATE, | ||
| PROCESS, | ||
| FINISH, | ||
| }; | ||
|
|
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| namespace shisen_cpp | ||
| { | ||
| template <class ConfigRequest, class ConfigReply> | ||
| class CallData : public CallDataBase | ||
| { | ||
| public: | ||
| CallData( | ||
| shisen_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path); | ||
|
|
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| void Proceed() override; | ||
|
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| protected: | ||
| virtual void AddNextToCompletionQueue() = 0; | ||
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| CallStatus status_; // The current serving state. | ||
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| shisen_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( | ||
| shisen_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path) | ||
| : status_(CallStatus::CREATE), service_(service), cq_(cq), responder_(&ctx_), path_(path) | ||
| { | ||
| } | ||
|
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| template <class ConfigRequest, class ConfigReply> | ||
| void CallData<ConfigRequest, ConfigReply>::Proceed() | ||
| { | ||
| switch (status_) { | ||
| case CallStatus::CREATE: | ||
| status_ = CallStatus::PROCESS; | ||
| WaitForRequest(); | ||
| break; | ||
| case CallStatus::PROCESS: | ||
| AddNextToCompletionQueue(); | ||
| HandleRequest(); | ||
| status_ = CallStatus::FINISH; | ||
| responder_.Finish(reply_, grpc::Status::OK, this); | ||
| break; | ||
| case CallStatus::FINISH: | ||
| delete this; | ||
| break; | ||
| } | ||
| } | ||
|
|
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| } // namespace shisen_cpp | ||
|
|
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| #endif // __SHISEN_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. | ||
|
|
||
| #ifndef SHISEN_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
| #define SHISEN_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ | ||
|
|
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| namespace shisen_cpp | ||
| { | ||
| class CallDataBase | ||
| { | ||
| public: | ||
| virtual void Proceed() = 0; | ||
|
|
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| protected: | ||
| virtual void WaitForRequest() = 0; | ||
| virtual void HandleRequest() = 0; | ||
| }; | ||
| } // namespace shisen_cpp | ||
|
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| #endif // SHISEN_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_ |
43 changes: 43 additions & 0 deletions
43
include/shisen_cpp/config/grpc/call_data_get_capture_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. | ||
|
|
||
| #ifndef SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_CAPTURE_SETTING_HPP__ | ||
| #define SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_CAPTURE_SETTING_HPP__ | ||
|
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| #include <shisen_cpp/config/grpc/call_data.hpp> | ||
|
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| namespace shisen_cpp | ||
| { | ||
| class CallDataGetCaptureSetting | ||
| : CallData<shisen_interfaces::proto::Empty, shisen_interfaces::proto::ConfigCapture> | ||
| { | ||
| public: | ||
| CallDataGetCaptureSetting( | ||
| shisen_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 shisen_cpp | ||
|
|
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| #endif // SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_CAPTURE_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 SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_IMAGE_HPP__ | ||
| #define SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_IMAGE_HPP__ | ||
|
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| #include <shisen_cpp/camera/node/camera_node.hpp> | ||
| #include <shisen_cpp/config/grpc/call_data.hpp> | ||
|
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| namespace shisen_cpp | ||
| { | ||
| class CallDataGetImage | ||
| : CallData<shisen_interfaces::proto::Empty, shisen_interfaces::proto::Image> | ||
| { | ||
| public: | ||
| CallDataGetImage( | ||
| shisen_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq, | ||
| const std::string & path, const std::shared_ptr<camera::CameraNode>& camera_node); | ||
|
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| protected: | ||
| void AddNextToCompletionQueue() override; | ||
| void WaitForRequest() override; | ||
| void HandleRequest() override; | ||
| std::shared_ptr<camera::CameraNode> camera_node_; | ||
| }; | ||
| } // namespace shisen_cpp | ||
|
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| #endif // SHISEN_CPP__CONFIG__GRPC__CALL_DATA_GET_IMAGE_HPP__ |
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