Implement unary gRPC calls. (#719)

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)

cartographer_grpc/framework/proto/math_service.proto

@@ -24,7 +24,16 @@ message GetSumResponse {
   int32 output = 1;
 }
 
+message GetSquareRequest {
+  int32 input = 1;
+}
+
+message GetSquareResponse {
+  int32 output = 1;
+}
+
 // Provides information about the gRPC server.
 service Math {
   rpc GetSum(stream GetSumRequest) returns (GetSumResponse);
+  rpc GetSquare(GetSquareRequest) returns (GetSquareResponse);
 }

cartographer_grpc/framework/rpc.cc

@@ -35,6 +35,7 @@ Rpc::Rpc(int method_index,
       new_connection_event_{Event::NEW_CONNECTION, this, false},
       read_event_{Event::READ, this, false},
       write_event_{Event::WRITE, this, false},
+      finish_event_{Event::FINISH, this, false},
       done_event_{Event::DONE, this, false},
       handler_(rpc_handler_info_.rpc_handler_factory(this, execution_context)) {
   InitializeReadersAndWriters(rpc_handler_info_.rpc_type);
@@ -69,6 +70,12 @@ void Rpc::RequestNextMethodInvocation() {
           server_completion_queue_, server_completion_queue_,
           &new_connection_event_);
       break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      service_->RequestAsyncUnary(
+          method_index_, &server_context_, request_.get(),
+          streaming_interface(), server_completion_queue_,
+          server_completion_queue_, &new_connection_event_);
+      break;
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
@@ -81,6 +88,13 @@ void Rpc::RequestStreamingReadIfNeeded() {
       read_event_.pending = true;
       async_reader_interface()->Read(request_.get(), &read_event_);
       break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      // For NORMAL_RPC we don't have to do anything here, since gRPC
+      // automatically issues a READ request and places the request into the
+      // 'Message' we provided to 'RequestAsyncUnary' above.
+      OnRequest();
+      OnReadsDone();
+      break;
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
@@ -88,15 +102,28 @@ void Rpc::RequestStreamingReadIfNeeded() {
 
 void Rpc::Write(std::unique_ptr<::google::protobuf::Message> message) {
   response_ = std::move(message);
-  write_event_.pending = true;
+  switch (rpc_handler_info_.rpc_type) {
-  server_async_reader_->Finish(*response_.get(), ::grpc::Status::OK,
+    case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
-                               &write_event_);
+      server_async_reader_->Finish(*response_.get(), ::grpc::Status::OK,
+                                   &finish_event_);
+      finish_event_.pending = true;
+      break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      server_async_response_writer_->Finish(*response_.get(),
+                                            ::grpc::Status::OK, &finish_event_);
+      finish_event_.pending = true;
+      break;
+    default:
+      LOG(FATAL) << "RPC type not implemented.";
+  }
 }
 
 ::grpc::internal::ServerAsyncStreamingInterface* Rpc::streaming_interface() {
   switch (rpc_handler_info_.rpc_type) {
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       return server_async_reader_.get();
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      return server_async_response_writer_.get();
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
@@ -108,6 +135,8 @@ Rpc::async_reader_interface() {
   switch (rpc_handler_info_.rpc_type) {
     case ::grpc::internal::RpcMethod::CLIENT_STREAMING:
       return server_async_reader_.get();
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      LOG(FATAL) << "For NORMAL_RPC no streaming interface exists.";
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }
@@ -122,6 +151,8 @@ Rpc::RpcEvent* Rpc::GetRpcEvent(Event event) {
       return &read_event_;
     case Event::WRITE:
       return &write_event_;
+    case Event::FINISH:
+      return &finish_event_;
     case Event::DONE:
       return &done_event_;
   }
@@ -139,6 +170,11 @@ void Rpc::InitializeReadersAndWriters(
               google::protobuf::Message, google::protobuf::Message>>(
               &server_context_);
       break;
+    case ::grpc::internal::RpcMethod::NORMAL_RPC:
+      server_async_response_writer_ = cartographer::common::make_unique<
+          ::grpc::ServerAsyncResponseWriter<google::protobuf::Message>>(
+          &server_context_);
+      break;
     default:
       LOG(FATAL) << "RPC type not implemented.";
   }

cartographer_grpc/framework/rpc.h

@@ -36,7 +36,7 @@ namespace framework {
 class Service;
 class Rpc {
  public:
-  enum class Event { NEW_CONNECTION = 0, READ, WRITE, DONE };
+  enum class Event { NEW_CONNECTION = 0, READ, WRITE, FINISH, DONE };
   struct RpcEvent {
     const Event event;
     Rpc* rpc;
@@ -79,6 +79,7 @@ class Rpc {
   RpcEvent new_connection_event_;
   RpcEvent read_event_;
   RpcEvent write_event_;
+  RpcEvent finish_event_;
   RpcEvent done_event_;
 
   std::unique_ptr<google::protobuf::Message> request_;
@@ -86,6 +87,8 @@ class Rpc {
 
   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_;

cartographer_grpc/framework/rpc_handler_interface.h

@@ -32,7 +32,7 @@ class RpcHandlerInterface {
   virtual void SetRpc(Rpc* rpc) = 0;
   virtual void OnRequestInternal(
       const ::google::protobuf::Message* request) = 0;
-  virtual void OnReadsDone() = 0;
+  virtual void OnReadsDone(){};
 };
 
 using RpcHandlerFactory = std::function<std::unique_ptr<RpcHandlerInterface>(
@@ -43,6 +43,7 @@ struct RpcHandlerInfo {
   const google::protobuf::Descriptor* response_descriptor;
   const RpcHandlerFactory rpc_handler_factory;
   const grpc::internal::RpcMethod::RpcType rpc_type;
+  const std::string fully_qualified_name;
 };
 
 }  // namespace framework

cartographer_grpc/framework/server.h

@@ -19,6 +19,7 @@
 
 #include <cstddef>
 #include <memory>
+#include <sstream>
 #include <string>
 #include <thread>
 
@@ -53,6 +54,9 @@ class Server {
 
     template <typename RpcHandlerType, typename ServiceType>
     void RegisterHandler(const std::string& method_name) {
+      std::stringstream fully_qualified_name;
+      fully_qualified_name << "/" << ServiceType::service_full_name() << "/"
+                           << method_name;
       rpc_handlers_[ServiceType::service_full_name()].emplace(
           method_name,
           RpcHandlerInfo{
@@ -66,7 +70,8 @@ class Server {
                 return rpc_handler;
               },
               RpcType<typename RpcHandlerType::IncomingType,
-                      typename RpcHandlerType::OutgoingType>::value});
+                      typename RpcHandlerType::OutgoingType>::value,
+              fully_qualified_name.str()});
     }
 
    private:

cartographer_grpc/framework/server_test.cc

@@ -33,7 +33,7 @@ class MathServerContext : public ExecutionContext {
   int additional_increment() { return 10; }
 };
 
-class GetServerOptionsHandler
+class GetSumHandler
     : public RpcHandler<Stream<proto::GetSumRequest>, proto::GetSumResponse> {
  public:
   void OnRequest(const proto::GetSumRequest& request) override {
@@ -51,6 +51,16 @@ class GetServerOptionsHandler
   int sum_ = 0;
 };
 
+class GetSquareHandler
+    : public RpcHandler<proto::GetSquareRequest, proto::GetSquareResponse> {
+  void OnRequest(const proto::GetSquareRequest& request) override {
+    auto response =
+        cartographer::common::make_unique<proto::GetSquareResponse>();
+    response->set_output(request.input() * request.input());
+    Send(std::move(response));
+  }
+};
+
 // TODO(cschuet): Due to the hard-coded part these tests will become flaky when
 // run in parallel. It would be nice to find a way to solve that. gRPC also
 // allows to communicate over UNIX domain sockets.
@@ -63,12 +73,19 @@ class ServerTest : public ::testing::Test {
     Server::Builder server_builder;
     server_builder.SetServerAddress(kServerAddress);
     server_builder.SetNumberOfThreads(kNumThreads);
-    server_builder.RegisterHandler<GetServerOptionsHandler, proto::Math>(
+    server_builder.RegisterHandler<GetSumHandler, proto::Math>("GetSum");
-        "GetSum");
+    server_builder.RegisterHandler<GetSquareHandler, proto::Math>("GetSquare");
     server_ = server_builder.Build();
+
+    client_channel_ =
+        grpc::CreateChannel(kServerAddress, grpc::InsecureChannelCredentials());
+    stub_ = proto::Math::NewStub(client_channel_);
   }
 
   std::unique_ptr<Server> server_;
+  std::shared_ptr<grpc::Channel> client_channel_;
+  std::unique_ptr<proto::Math::Stub> stub_;
+  grpc::ClientContext client_context_;
 };
 
 TEST_F(ServerTest, StartAndStopServerTest) {
@@ -81,13 +98,9 @@ TEST_F(ServerTest, ProcessRpcStreamTest) {
       cartographer::common::make_unique<MathServerContext>());
   server_->Start();
 
-  auto channel =
-      grpc::CreateChannel(kServerAddress, grpc::InsecureChannelCredentials());
-  std::unique_ptr<proto::Math::Stub> stub(proto::Math::NewStub(channel));
-  grpc::ClientContext context;
   proto::GetSumResponse result;
   std::unique_ptr<grpc::ClientWriter<proto::GetSumRequest> > writer(
-      stub->GetSum(&context, &result));
+      stub_->GetSum(&client_context_, &result));
   for (int i = 0; i < 3; ++i) {
     proto::GetSumRequest request;
     request.set_input(i);
@@ -101,6 +114,19 @@ TEST_F(ServerTest, ProcessRpcStreamTest) {
   server_->Shutdown();
 }
 
+TEST_F(ServerTest, ProcessUnaryRpcTest) {
+  server_->Start();
+
+  proto::GetSquareResponse result;
+  proto::GetSquareRequest request;
+  request.set_input(11);
+  grpc::Status status = stub_->GetSquare(&client_context_, request, &result);
+  EXPECT_TRUE(status.ok());
+  EXPECT_EQ(result.output(), 121);
+
+  server_->Shutdown();
+}
+
 }  // namespace
 }  // namespace framework
 }  // namespace cartographer_grpc

cartographer_grpc/framework/service.cc

@@ -26,13 +26,11 @@ Service::Service(const std::string& service_name,
                  const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos)
     : rpc_handler_infos_(rpc_handler_infos) {
   for (const auto& rpc_handler_info : rpc_handler_infos_) {
-    std::string fully_qualified_method_name =
-        "/" + service_name + "/" + rpc_handler_info.first;
     // The 'handler' below is set to 'nullptr' indicating that we want to
     // handle this method asynchronously.
     this->AddMethod(new grpc::internal::RpcServiceMethod(
-        fully_qualified_method_name.c_str(), rpc_handler_info.second.rpc_type,
+        rpc_handler_info.second.fully_qualified_name.c_str(),
-        nullptr /* handler */));
+        rpc_handler_info.second.rpc_type, nullptr /* handler */));
   }
 }
 
@@ -65,6 +63,9 @@ void Service::HandleEvent(Rpc::Event event, Rpc* rpc, bool ok) {
     case Rpc::Event::WRITE:
       HandleWrite(rpc, ok);
       break;
+    case Rpc::Event::FINISH:
+      HandleFinish(rpc, ok);
+      break;
     case Rpc::Event::DONE:
       HandleDone(rpc, ok);
       break;
@@ -114,12 +115,21 @@ void Service::HandleWrite(Rpc* rpc, bool ok) {
   RemoveIfNotPending(rpc);
 }
 
+void Service::HandleFinish(Rpc* rpc, bool ok) {
+  if (!ok) {
+    LOG(ERROR) << "Finish failed";
+  }
+
+  RemoveIfNotPending(rpc);
+}
+
 void Service::HandleDone(Rpc* rpc, bool ok) { RemoveIfNotPending(rpc); }
 
 void Service::RemoveIfNotPending(Rpc* rpc) {
   if (!rpc->GetRpcEvent(Rpc::Event::DONE)->pending &&
       !rpc->GetRpcEvent(Rpc::Event::READ)->pending &&
-      !rpc->GetRpcEvent(Rpc::Event::WRITE)->pending) {
+      !rpc->GetRpcEvent(Rpc::Event::WRITE)->pending &&
+      !rpc->GetRpcEvent(Rpc::Event::FINISH)->pending) {
     active_rpcs_.Remove(rpc);
   }
 }

cartographer_grpc/framework/service.h

@@ -45,6 +45,7 @@ class Service : public ::grpc::Service {
   void HandleNewConnection(Rpc* rpc, bool ok);
   void HandleRead(Rpc* rpc, bool ok);
   void HandleWrite(Rpc* rpc, bool ok);
+  void HandleFinish(Rpc* rpc, bool ok);
   void HandleDone(Rpc* rpc, bool ok);
 
   void RemoveIfNotPending(Rpc* rpc);