cartographer/cartographer_grpc/framework/service.h

/*
 * Copyright 2017 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H

#include "cartographer_grpc/framework/rpc.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "grpc++/impl/codegen/service_type.h"

namespace cartographer_grpc {
namespace framework {

// A 'Service' represents a generic service for gRPC asynchronous methods and is
// responsible for managing the lifetime of active RPCs issued against methods
// of the service and distributing incoming gRPC events to their respective
// 'Rpc' handler objects.
class Service : public ::grpc::Service {
 public:
  Service(const std::string& service_name,
          const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
  void StartServing(
      const std::vector<::grpc::ServerCompletionQueue*>& completion_queues);

 private:
  void RequestNextMethodInvocation(
      int method_index, Rpc* rpc,
      ::grpc::ServerCompletionQueue* completion_queue);

  std::map<std::string, RpcHandlerInfo> rpc_handler_infos_;
  ActiveRpcs active_rpcs_;
};

}  // namespace framework
}  // namespace cartographer_grpc

#endif  // CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H