Introduce gRPC server, service and rpc handlers (#692)
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/*
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* Copyright 2017 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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#include "cartographer_grpc/framework/completion_queue_thread.h"
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#include "cartographer/common/make_unique.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace framework {
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CompletionQueueThread::CompletionQueueThread(
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std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue)
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: completion_queue_(std::move(completion_queue)) {}
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void CompletionQueueThread::Start(CompletionQueueRunner runner) {
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CHECK(!worker_thread_);
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worker_thread_ = cartographer::common::make_unique<std::thread>(
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[this, runner]() { runner(this->completion_queue_.get()); });
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}
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} // namespace framework
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_COMPLETION_QUEUE_THREAD_H
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#define CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
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#include <grpc++/grpc++.h>
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#include <memory>
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#include <thread>
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namespace cartographer_grpc {
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namespace framework {
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class CompletionQueueThread {
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public:
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using CompletionQueueRunner =
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std::function<void(::grpc::ServerCompletionQueue*)>;
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explicit CompletionQueueThread(
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std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue);
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void Start(CompletionQueueRunner runner);
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private:
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std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue_;
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std::unique_ptr<std::thread> worker_thread_;
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};
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} // namespace framework
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
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/*
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* Copyright 2017 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_RPC_HANDLER_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
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#include "google/protobuf/message.h"
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namespace cartographer_grpc {
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namespace framework {
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class Rpc;
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class RpcHandlerInterface {
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public:
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void SetRpc(Rpc* rpc);
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};
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using RpcHandlerFactory =
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std::function<std::unique_ptr<RpcHandlerInterface>(Rpc*)>;
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struct RpcHandlerInfo {
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const google::protobuf::Descriptor* request_descriptor;
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const google::protobuf::Descriptor* response_descriptor;
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const RpcHandlerFactory rpc_handler_factory;
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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_RPC_HANDLER_H
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/*
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* Copyright 2017 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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#include "cartographer_grpc/framework/server.h"
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#include "cartographer/common/make_unique.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace framework {
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void Server::Builder::SetNumberOfThreads(const size_t number_of_threads) {
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options_.number_of_threads = number_of_threads;
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}
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void Server::Builder::SetServerAddress(const std::string& server_address) {
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options_.server_address = server_address;
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}
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std::unique_ptr<Server> Server::Builder::Build() {
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std::unique_ptr<Server> server(new Server(options_));
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for (const auto& service_handlers : rpc_handlers_) {
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server->AddService(service_handlers.first, service_handlers.second);
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}
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return server;
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}
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Server::Server(const Options& options) : options_(options) {
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server_builder_.AddListeningPort(options_.server_address,
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grpc::InsecureServerCredentials());
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// Set up completion queues threads.
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for (size_t i = 0; i < options_.number_of_threads; ++i) {
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completion_queue_threads_.emplace_back(
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server_builder_.AddCompletionQueue());
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}
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}
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void Server::AddService(
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const std::string& service_name,
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const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos) {
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// Instantiate and register service.
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const auto result =
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services_.emplace(std::piecewise_construct, std::make_tuple(service_name),
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std::make_tuple(rpc_handler_infos));
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CHECK(result.second) << "A service named " << service_name
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<< " already exists.";
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server_builder_.RegisterService(&result.first->second);
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}
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} // namespace framework
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_SERVER_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
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#include <cstddef>
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#include <memory>
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#include <string>
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#include <thread>
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/completion_queue_thread.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/framework/service.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace framework {
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class Server {
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private:
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// All options that configure server behaviour such as number of threads,
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// ports etc.
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struct Options {
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size_t number_of_threads = 4;
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std::string server_address = "0.0.0.0:50051";
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};
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public:
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// This 'Builder' is the only way to construct a 'Server'.
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class Builder {
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public:
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Builder() = default;
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std::unique_ptr<Server> Build();
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void SetNumberOfThreads(std::size_t number_of_threads);
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void SetServerAddress(const std::string& server_address);
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template <typename RpcHandlerType, typename ServiceType>
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void RegisterHandler(const std::string& method_name) {
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rpc_handlers_[ServiceType::service_full_name()].emplace(
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method_name,
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RpcHandlerInfo{
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RpcHandlerType::RequestType::default_instance().GetDescriptor(),
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RpcHandlerType::ResponseType::default_instance().GetDescriptor(),
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[](Rpc* const rpc) {
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std::unique_ptr<RpcHandlerInterface> rpc_handler =
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cartographer::common::make_unique<RpcHandlerType>();
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rpc_handler->SetRpc(rpc);
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return rpc_handler;
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}});
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}
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private:
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using ServiceInfo = std::map<std::string, RpcHandlerInfo>;
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Options options_;
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std::map<std::string, ServiceInfo> rpc_handlers_;
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};
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friend class Builder;
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// Starts a server and waits for its termination.
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void StartAndWait();
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private:
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Server(const Options& options);
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Server(const Server&) = delete;
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Server& operator=(const Server&) = delete;
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void AddService(
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const std::string& service_name,
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const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos);
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Options options_;
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// gRPC objects needed to build a server.
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::grpc::ServerBuilder server_builder_;
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std::unique_ptr<::grpc::Server> server_;
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// Threads processing the completion queues.
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std::vector<CompletionQueueThread> completion_queue_threads_;
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// Map of service names to services.
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std::map<std::string, Service> services_;
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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_SERVER_H
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/*
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* Copyright 2017 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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#include "cartographer_grpc/framework/server.h"
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namespace cartographer_grpc {
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namespace framework {
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Service::Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers)
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: rpc_handlers_(rpc_handlers) {}
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} // namespace framework
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} // namespace cartographer_grpc
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/*
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* Copyright 2017 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_SERVICE_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVICE_H
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "grpc++/impl/codegen/service_type.h"
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namespace cartographer_grpc {
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namespace framework {
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// A 'Service' represents a generic service for gRPC asynchronous methods and is
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// responsible for managing the lifetime of active RPCs issued against methods
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// of the service and distributing incoming gRPC events to their respective
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// 'Rpc' handler objects.
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class Service : public ::grpc::Service {
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public:
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Service(const std::map<std::string, RpcHandlerInfo>& rpc_handlers);
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private:
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std::map<std::string, RpcHandlerInfo> rpc_handlers_;
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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_SERVICE_H
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