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 {
void Server::Builder::SetNumberOfThreads(const size_t number_of_threads) {
options_.number_of_threads = number_of_threads;
}
void Server::Builder::SetServerAddress(const std::string& server_address) {
options_.server_address = server_address;
}
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());
// Set up completion queues threads.
for (size_t i = 0; i < options_.number_of_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.
const auto result =
services_.emplace(std::piecewise_construct, std::make_tuple(service_name),
std::make_tuple(service_name, rpc_handler_infos));
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::RpcEvent*>(tag);
rpc_event->rpc->service()->HandleEvent(rpc_event->event, rpc_event->rpc,
ok);
delete rpc_event;
}
}
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());
}
// Start threads to process all completion queues.
for (auto& completion_queue_threads : completion_queue_threads_) {
completion_queue_threads.Start(Server::RunCompletionQueue);
}
}
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void Server::WaitForShutdown() {
if (!server_) {
return;
}
server_->Wait();
}
void Server::Shutdown() {
LOG(INFO) << "Shutting down server.";
// 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();
}
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