66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
/*
|
|
* 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
|