cartographer/cartographer_grpc/framework/rpc_handler.h

92 lines
2.9 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.
*/
#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h"
#include "cartographer_grpc/framework/type_traits.h"
#include "glog/logging.h"
#include "google/protobuf/message.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace framework {
template <typename Incoming, typename Outgoing>
class RpcHandler : public RpcHandlerInterface {
public:
using IncomingType = Incoming;
using OutgoingType = Outgoing;
using RequestType = StripStream<Incoming>;
using ResponseType = StripStream<Outgoing>;
class Writer {
public:
explicit Writer(std::weak_ptr<Rpc> rpc) : rpc_(std::move(rpc)) {}
bool Write(std::unique_ptr<ResponseType> message) const {
if (auto rpc = rpc_.lock()) {
rpc->Write(std::move(message));
return true;
}
return false;
}
bool WritesDone() const {
if (auto rpc = rpc_.lock()) {
rpc->Finish(::grpc::Status::OK);
return true;
}
return false;
}
private:
const std::weak_ptr<Rpc> rpc_;
};
void SetExecutionContext(ExecutionContext* execution_context) override {
execution_context_ = execution_context;
}
void SetRpc(Rpc* rpc) override { rpc_ = rpc; }
void OnRequestInternal(const ::google::protobuf::Message* request) override {
DCHECK(dynamic_cast<const RequestType*>(request));
OnRequest(static_cast<const RequestType&>(*request));
}
virtual void OnRequest(const RequestType& request) = 0;
void Finish(::grpc::Status status) { rpc_->Finish(status); }
void Send(std::unique_ptr<ResponseType> response) {
rpc_->Write(std::move(response));
}
template <typename T>
ExecutionContext::Synchronized<T> GetContext() {
return {execution_context_->lock(), execution_context_};
}
template <typename T>
T* GetUnsynchronizedContext() {
return dynamic_cast<T*>(execution_context_);
}
Writer GetWriter() { return Writer(rpc_->GetWeakPtr()); }
private:
Rpc* rpc_;
ExecutionContext* execution_context_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H