cartographer/cartographer_grpc/framework/rpc.h

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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.
*/
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
#include <memory>
#include <queue>
#include <unordered_set>
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#include "cartographer/common/blocking_queue.h"
#include "cartographer/common/mutex.h"
#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h"
#include "google/protobuf/message.h"
#include "grpc++/grpc++.h"
#include "grpc++/impl/codegen/async_stream.h"
#include "grpc++/impl/codegen/async_unary_call.h"
#include "grpc++/impl/codegen/proto_utils.h"
#include "grpc++/impl/codegen/service_type.h"
namespace cartographer_grpc {
namespace framework {
class Service;
// TODO(cschuet): Add a unittest that tests the logic of this class.
class Rpc {
public:
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struct RpcEvent;
using EventQueue = cartographer::common::BlockingQueue<RpcEvent*>;
using WeakPtrFactory = std::function<std::weak_ptr<Rpc>(Rpc*)>;
enum class Event {
NEW_CONNECTION = 0,
READ,
WRITE_NEEDED,
WRITE,
FINISH,
DONE
};
struct RpcEvent {
const Event event;
std::weak_ptr<Rpc> rpc;
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bool ok;
};
Rpc(int method_index, ::grpc::ServerCompletionQueue* server_completion_queue,
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EventQueue* event_queue, ExecutionContext* execution_context,
const RpcHandlerInfo& rpc_handler_info, Service* service,
WeakPtrFactory weak_ptr_factory);
std::unique_ptr<Rpc> Clone();
void OnRequest();
void OnReadsDone();
void OnFinish();
void RequestNextMethodInvocation();
void RequestStreamingReadIfNeeded();
void HandleSendQueue();
void Write(std::unique_ptr<::google::protobuf::Message> message);
void Finish(::grpc::Status status);
Service* service() { return service_; }
void SetRpcEventState(Event event, bool pending);
bool IsRpcEventPending(Event event);
bool IsAnyEventPending();
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void SetEventQueue(EventQueue* event_queue) { event_queue_ = event_queue; }
EventQueue* event_queue() { return event_queue_; }
std::weak_ptr<Rpc> GetWeakPtr();
private:
struct SendItem {
std::unique_ptr<google::protobuf::Message> msg;
::grpc::Status status;
};
Rpc(const Rpc&) = delete;
Rpc& operator=(const Rpc&) = delete;
void InitializeReadersAndWriters(
::grpc::internal::RpcMethod::RpcType rpc_type);
bool* GetRpcEventState(Event event);
void EnqueueMessage(SendItem&& send_item);
void PerformFinish(std::unique_ptr<::google::protobuf::Message> message,
::grpc::Status status);
void PerformWrite(std::unique_ptr<::google::protobuf::Message> message,
::grpc::Status status);
::grpc::internal::AsyncReaderInterface<::google::protobuf::Message>*
async_reader_interface();
::grpc::internal::AsyncWriterInterface<::google::protobuf::Message>*
async_writer_interface();
::grpc::internal::ServerAsyncStreamingInterface* streaming_interface();
int method_index_;
::grpc::ServerCompletionQueue* server_completion_queue_;
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EventQueue* event_queue_;
ExecutionContext* execution_context_;
RpcHandlerInfo rpc_handler_info_;
Service* service_;
WeakPtrFactory weak_ptr_factory_;
::grpc::ServerContext server_context_;
// These state variables indicate whether the corresponding event is currently
// pending completion, e.g. 'read_event_pending_ = true' means that a read has
// been requested but hasn't completed yet. 'read_event_pending_ = false'
// indicates that the read has completed and currently no read is in-flight.
bool new_connection_event_pending_ = false;
bool read_event_pending_ = false;
bool write_needed_event_pending_ = false;
bool write_event_pending_ = false;
bool finish_event_pending_ = false;
bool done_event_pending_ = false;
std::unique_ptr<google::protobuf::Message> request_;
std::unique_ptr<google::protobuf::Message> response_;
std::unique_ptr<RpcHandlerInterface> handler_;
std::unique_ptr<::grpc::ServerAsyncResponseWriter<google::protobuf::Message>>
server_async_response_writer_;
std::unique_ptr<::grpc::ServerAsyncReader<google::protobuf::Message,
google::protobuf::Message>>
server_async_reader_;
std::unique_ptr<::grpc::ServerAsyncReaderWriter<google::protobuf::Message,
google::protobuf::Message>>
server_async_reader_writer_;
std::unique_ptr<::grpc::ServerAsyncWriter<google::protobuf::Message>>
server_async_writer_;
cartographer::common::Mutex send_queue_lock_;
std::queue<SendItem> send_queue_;
};
// This class keeps track of all in-flight RPCs for a 'Service'. Make sure that
// all RPCs have been terminated and removed from this object before it goes out
// of scope.
class ActiveRpcs {
public:
ActiveRpcs();
~ActiveRpcs() EXCLUDES(lock_);
std::shared_ptr<Rpc> Add(std::unique_ptr<Rpc> rpc) EXCLUDES(lock_);
bool Remove(Rpc* rpc) EXCLUDES(lock_);
Rpc::WeakPtrFactory GetWeakPtrFactory();
private:
std::weak_ptr<Rpc> GetWeakPtr(Rpc* rpc);
cartographer::common::Mutex lock_;
std::map<Rpc*, std::shared_ptr<Rpc>> rpcs_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H