cartographer/cartographer_grpc/framework/server.cc

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/*
* 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.
*/
#include "cartographer_grpc/framework/server.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace framework {
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namespace {
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const cartographer::common::Duration kPopEventTimeout =
cartographer::common::FromMilliseconds(100);
} // namespace
void Server::Builder::SetNumGrpcThreads(const size_t num_grpc_threads) {
options_.num_grpc_threads = num_grpc_threads;
}
void Server::Builder::SetNumEventThreads(const std::size_t num_event_threads) {
options_.num_event_threads = num_event_threads;
}
void Server::Builder::SetServerAddress(const std::string& server_address) {
options_.server_address = server_address;
}
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std::tuple<std::string, std::string> Server::Builder::ParseMethodFullName(
const std::string& method_full_name) {
CHECK(method_full_name.at(0) == '/') << "Invalid method name.";
std::stringstream stream(method_full_name.substr(1));
std::string service_full_name;
std::getline(stream, service_full_name, '/');
std::string method_name;
std::getline(stream, method_name, '/');
CHECK(!service_full_name.empty() && !method_name.empty());
return std::make_tuple(service_full_name, method_name);
}
std::unique_ptr<Server> Server::Builder::Build() {
std::unique_ptr<Server> server(new Server(options_));
for (const auto& service_handlers : rpc_handlers_) {
server->AddService(service_handlers.first, service_handlers.second);
}
return server;
}
Server::Server(const Options& options) : options_(options) {
server_builder_.AddListeningPort(options_.server_address,
grpc::InsecureServerCredentials());
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// Set up event queue threads.
event_queue_threads_ =
std::vector<EventQueueThread>(options_.num_event_threads);
// Set up completion queues threads.
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for (size_t i = 0; i < options_.num_grpc_threads; ++i) {
completion_queue_threads_.emplace_back(
server_builder_.AddCompletionQueue());
}
}
void Server::AddService(
const std::string& service_name,
const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos) {
// Instantiate and register service.
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const auto result = services_.emplace(
std::piecewise_construct, std::make_tuple(service_name),
std::make_tuple(service_name, rpc_handler_infos,
[this]() { return SelectNextEventQueueRoundRobin(); }));
CHECK(result.second) << "A service named " << service_name
<< " already exists.";
server_builder_.RegisterService(&result.first->second);
}
void Server::RunCompletionQueue(
::grpc::ServerCompletionQueue* completion_queue) {
bool ok;
void* tag;
while (completion_queue->Next(&tag, &ok)) {
auto* rpc_event = static_cast<Rpc::CompletionQueueRpcEvent*>(tag);
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rpc_event->ok = ok;
rpc_event->PushToEventQueue();
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}
}
EventQueue* Server::SelectNextEventQueueRoundRobin() {
cartographer::common::MutexLocker locker(&current_event_queue_id_lock_);
current_event_queue_id_ =
(current_event_queue_id_ + 1) % options_.num_event_threads;
return event_queue_threads_.at(current_event_queue_id_).event_queue();
}
void Server::RunEventQueue(EventQueue* event_queue) {
while (!shutting_down_) {
Rpc::UniqueEventPtr rpc_event =
event_queue->PopWithTimeout(kPopEventTimeout);
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if (rpc_event) {
rpc_event->Handle();
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}
}
// Finish processing the rest of the items.
while (Rpc::UniqueEventPtr rpc_event =
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event_queue->PopWithTimeout(kPopEventTimeout)) {
rpc_event->Handle();
}
}
void Server::Start() {
// Start the gRPC server process.
server_ = server_builder_.BuildAndStart();
// Start serving all services on all completion queues.
for (auto& service : services_) {
service.second.StartServing(completion_queue_threads_,
execution_context_.get());
}
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// Start threads to process all event queues.
for (auto& event_queue_thread : event_queue_threads_) {
event_queue_thread.Start(
[this](EventQueue* event_queue) { RunEventQueue(event_queue); });
}
// Start threads to process all completion queues.
for (auto& completion_queue_threads : completion_queue_threads_) {
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completion_queue_threads.Start(
[this](::grpc::ServerCompletionQueue* completion_queue) {
RunCompletionQueue(completion_queue);
});
}
}
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void Server::WaitForShutdown() {
if (!server_) {
return;
}
server_->Wait();
}
void Server::Shutdown() {
LOG(INFO) << "Shutting down server.";
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shutting_down_ = true;
// Tell the services to stop serving RPCs.
for (auto& service : services_) {
service.second.StopServing();
}
// Shut down the gRPC server waiting for RPCs to finish until the hard
// deadline; then force a shutdown.
server_->Shutdown();
// Shut down the server completion queues and wait for the processing threads
// to join.
for (auto& completion_queue_threads : completion_queue_threads_) {
completion_queue_threads.Shutdown();
}
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for (auto& event_queue_thread : event_queue_threads_) {
event_queue_thread.Shutdown();
}
LOG(INFO) << "Shutdown complete.";
}
void Server::SetExecutionContext(
std::unique_ptr<ExecutionContext> execution_context) {
// After the server has been started the 'ExecutionHandle' cannot be changed
// anymore.
CHECK(!server_);
execution_context_ = std::move(execution_context);
}
} // namespace framework
} // namespace cartographer_grpc