172 lines
6.4 KiB
C
172 lines
6.4 KiB
C
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H
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#include "grpc++/grpc++.h"
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#include "grpc++/impl/codegen/client_unary_call.h"
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#include "grpc++/impl/codegen/sync_stream.h"
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namespace cartographer_grpc {
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namespace framework {
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template <typename RpcHandlerType>
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class Client {
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public:
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Client(std::shared_ptr<grpc::Channel> channel)
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: channel_(channel),
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rpc_method_name_(
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RpcHandlerInterface::Instantiate<RpcHandlerType>()->method_name()),
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rpc_method_(rpc_method_name_.c_str(),
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RpcType<typename RpcHandlerType::IncomingType,
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typename RpcHandlerType::OutgoingType>::value,
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channel_) {}
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bool Read(typename RpcHandlerType::ResponseType* response) {
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switch (rpc_method_.method_type()) {
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case grpc::internal::RpcMethod::BIDI_STREAMING:
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InstantiateClientReaderWriterIfNeeded();
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return client_reader_writer_->Read(response);
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case grpc::internal::RpcMethod::SERVER_STREAMING:
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CHECK(client_reader_);
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return client_reader_->Read(response);
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default:
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LOG(FATAL) << "Not implemented.";
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}
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}
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bool Write(const typename RpcHandlerType::RequestType& request) {
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switch (rpc_method_.method_type()) {
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case grpc::internal::RpcMethod::NORMAL_RPC:
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return MakeBlockingUnaryCall(request, &response_).ok();
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case grpc::internal::RpcMethod::CLIENT_STREAMING:
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InstantiateClientWriterIfNeeded();
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return client_writer_->Write(request);
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case grpc::internal::RpcMethod::BIDI_STREAMING:
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InstantiateClientReaderWriterIfNeeded();
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return client_reader_writer_->Write(request);
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case grpc::internal::RpcMethod::SERVER_STREAMING:
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InstantiateClientReader(request);
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return true;
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}
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LOG(FATAL) << "Not reached.";
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}
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bool WritesDone() {
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switch (rpc_method_.method_type()) {
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case grpc::internal::RpcMethod::CLIENT_STREAMING:
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InstantiateClientWriterIfNeeded();
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return client_writer_->WritesDone();
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case grpc::internal::RpcMethod::BIDI_STREAMING:
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InstantiateClientReaderWriterIfNeeded();
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return client_reader_writer_->WritesDone();
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default:
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LOG(FATAL) << "Not implemented.";
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}
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}
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grpc::Status Finish() {
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switch (rpc_method_.method_type()) {
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case grpc::internal::RpcMethod::CLIENT_STREAMING:
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InstantiateClientWriterIfNeeded();
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return client_writer_->Finish();
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case grpc::internal::RpcMethod::BIDI_STREAMING:
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InstantiateClientReaderWriterIfNeeded();
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return client_reader_writer_->Finish();
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case grpc::internal::RpcMethod::SERVER_STREAMING:
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CHECK(client_reader_);
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return client_reader_->Finish();
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default:
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LOG(FATAL) << "Not implemented.";
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}
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}
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const typename RpcHandlerType::ResponseType& response() {
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CHECK(rpc_method_.method_type() == grpc::internal::RpcMethod::NORMAL_RPC ||
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rpc_method_.method_type() ==
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grpc::internal::RpcMethod::CLIENT_STREAMING);
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return response_;
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}
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private:
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void InstantiateClientWriterIfNeeded() {
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CHECK_EQ(rpc_method_.method_type(),
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grpc::internal::RpcMethod::CLIENT_STREAMING);
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if (!client_writer_) {
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client_writer_.reset(
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grpc::internal::ClientWriterFactory<
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typename RpcHandlerType::RequestType>::Create(channel_.get(),
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rpc_method_,
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&client_context_,
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&response_));
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}
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}
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void InstantiateClientReaderWriterIfNeeded() {
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CHECK_EQ(rpc_method_.method_type(),
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grpc::internal::RpcMethod::BIDI_STREAMING);
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if (!client_reader_writer_) {
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client_reader_writer_.reset(
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grpc::internal::ClientReaderWriterFactory<
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typename RpcHandlerType::RequestType,
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typename RpcHandlerType::ResponseType>::Create(channel_.get(),
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rpc_method_,
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&client_context_));
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}
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}
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void InstantiateClientReader(
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const typename RpcHandlerType::RequestType& request) {
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CHECK_EQ(rpc_method_.method_type(),
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grpc::internal::RpcMethod::SERVER_STREAMING);
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client_reader_.reset(
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grpc::internal::ClientReaderFactory<
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typename RpcHandlerType::ResponseType>::Create(channel_.get(),
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rpc_method_,
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&client_context_,
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request));
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}
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grpc::Status MakeBlockingUnaryCall(
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const typename RpcHandlerType::RequestType& request,
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typename RpcHandlerType::ResponseType* response) {
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CHECK_EQ(rpc_method_.method_type(), grpc::internal::RpcMethod::NORMAL_RPC);
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return ::grpc::internal::BlockingUnaryCall(
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channel_.get(), rpc_method_, &client_context_, request, response);
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}
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std::shared_ptr<grpc::Channel> channel_;
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grpc::ClientContext client_context_;
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const std::string rpc_method_name_;
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const ::grpc::internal::RpcMethod rpc_method_;
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std::unique_ptr<grpc::ClientWriter<typename RpcHandlerType::RequestType>>
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client_writer_;
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std::unique_ptr<
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grpc::ClientReaderWriter<typename RpcHandlerType::RequestType,
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typename RpcHandlerType::ResponseType>>
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client_reader_writer_;
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std::unique_ptr<grpc::ClientReader<typename RpcHandlerType::ResponseType>>
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client_reader_;
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typename RpcHandlerType::ResponseType response_;
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};
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} // namespace framework
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_FRAMEWORK_CLIENT_H
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