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Introduce gRPC server, service and rpc handlers (#692)

master
Christoph Schütte 2017-11-23 15:37:30 +01:00 committed by Wally B. Feed
parent ec034b13bc
commit 38eeb17164
7 changed files with 360 additions and 0 deletions
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36
cartographer_grpc/framework/completion_queue_thread.cc Normal file
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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/completion_queue_thread.h"
#include "cartographer/common/make_unique.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace framework {
CompletionQueueThread::CompletionQueueThread(
std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue)
: completion_queue_(std::move(completion_queue)) {}
void CompletionQueueThread::Start(CompletionQueueRunner runner) {
CHECK(!worker_thread_);
worker_thread_ = cartographer::common::make_unique<std::thread>(
[this, runner]() { runner(this->completion_queue_.get()); });
}
} // namespace framework
} // namespace cartographer_grpc

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cartographer_grpc/framework/completion_queue_thread.h Normal file
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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_COMPLETION_QUEUE_THREAD_H
#define CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
#include <grpc++/grpc++.h>
#include <memory>
#include <thread>
namespace cartographer_grpc {
namespace framework {
class CompletionQueueThread {
public:
using CompletionQueueRunner =
std::function<void(::grpc::ServerCompletionQueue*)>;
explicit CompletionQueueThread(
std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue);
void Start(CompletionQueueRunner runner);
private:
std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue_;
std::unique_ptr<std::thread> worker_thread_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H

43
cartographer_grpc/framework/rpc_handler.h Normal file
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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_HANDLER_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
#include "google/protobuf/message.h"
namespace cartographer_grpc {
namespace framework {
class Rpc;
class RpcHandlerInterface {
public:
void SetRpc(Rpc* rpc);
};
using RpcHandlerFactory =
std::function<std::unique_ptr<RpcHandlerInterface>(Rpc*)>;
struct RpcHandlerInfo {
const google::protobuf::Descriptor* request_descriptor;
const google::protobuf::Descriptor* response_descriptor;
const RpcHandlerFactory rpc_handler_factory;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H

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cartographer_grpc/framework/server.cc Normal file
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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 "cartographer/common/make_unique.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(rpc_handler_infos));
CHECK(result.second) << "A service named " << service_name
<< " already exists.";
server_builder_.RegisterService(&result.first->second);
}
} // namespace framework
} // namespace cartographer_grpc

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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_SERVER_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
#include <cstddef>
#include <memory>
#include <string>
#include <thread>
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/completion_queue_thread.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/framework/service.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace framework {
class Server {
private:
// All options that configure server behaviour such as number of threads,
// ports etc.
struct Options {
size_t number_of_threads = 4;
std::string server_address = "0.0.0.0:50051";
};
public:
// This 'Builder' is the only way to construct a 'Server'.
class Builder {
public:
Builder() = default;
std::unique_ptr<Server> Build();
void SetNumberOfThreads(std::size_t number_of_threads);
void SetServerAddress(const std::string& server_address);
template <typename RpcHandlerType, typename ServiceType>
void RegisterHandler(const std::string& method_name) {
rpc_handlers_[ServiceType::service_full_name()].emplace(
method_name,
RpcHandlerInfo{
RpcHandlerType::RequestType::default_instance().GetDescriptor(),
RpcHandlerType::ResponseType::default_instance().GetDescriptor(),
[](Rpc* const rpc) {
std::unique_ptr<RpcHandlerInterface> rpc_handler =
cartographer::common::make_unique<RpcHandlerType>();
rpc_handler->SetRpc(rpc);
return rpc_handler;
}});
}
private:
using ServiceInfo = std::map<std::string, RpcHandlerInfo>;
Options options_;
std::map<std::string, ServiceInfo> rpc_handlers_;
};
friend class Builder;
// Starts a server and waits for its termination.
void StartAndWait();
private:
Server(const Options& options);
Server(const Server&) = delete;
Server& operator=(const Server&) = delete;
void AddService(
const std::string& service_name,
const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos);
Options options_;
// gRPC objects needed to build a server.
::grpc::ServerBuilder server_builder_;
std::unique_ptr<::grpc::Server> server_;
// Threads processing the completion queues.
std::vector<CompletionQueueThread> completion_queue_threads_;
// Map of service names to services.
std::map<std::string, Service> services_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_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.
*/
#include "cartographer_grpc/framework/server.h"
namespace cartographer_grpc {
namespace framework {
Service::Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers)
: rpc_handlers_(rpc_handlers) {}
} // namespace framework
} // namespace cartographer_grpc

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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_SERVICE_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_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::map<std::string, RpcHandlerInfo>& rpc_handlers);
private:
std::map<std::string, RpcHandlerInfo> rpc_handlers_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H