cartographer/cartographer_grpc/framework/rpc.h

135 lines
4.4 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_H
#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H
#include <memory>
#include <queue>
#include <unordered_set>
#include "cartographer/common/mutex.h"
#include "cartographer_grpc/framework/execution_context.h"
#include "cartographer_grpc/framework/rpc_handler_interface.h"
#include "google/protobuf/message.h"
#include "grpc++/grpc++.h"
#include "grpc++/impl/codegen/async_stream.h"
#include "grpc++/impl/codegen/async_unary_call.h"
#include "grpc++/impl/codegen/proto_utils.h"
#include "grpc++/impl/codegen/service_type.h"
namespace cartographer_grpc {
namespace framework {
class Service;
class Rpc {
public:
enum class Event { NEW_CONNECTION = 0, READ, WRITE, FINISH, DONE };
struct RpcEvent {
const Event event;
Rpc* rpc;
// Indicates whether the event is pending completion. E.g. 'event = READ'
// and 'pending = true' means that a read has been requested but hasn't
// completed yet. While 'pending = false' indicates, that the read has
// completed and currently no read is in-flight.
bool pending;
};
Rpc(int method_index, ::grpc::ServerCompletionQueue* server_completion_queue,
ExecutionContext* execution_context,
const RpcHandlerInfo& rpc_handler_info, Service* service);
std::unique_ptr<Rpc> Clone();
void OnRequest();
void OnReadsDone();
void RequestNextMethodInvocation();
void RequestStreamingReadIfNeeded();
void PerformWriteIfNeeded();
void Write(std::unique_ptr<::google::protobuf::Message> message);
void Finish(::grpc::Status status);
Service* service() { return service_; }
RpcEvent* GetRpcEvent(Event event);
private:
struct SendItem {
std::unique_ptr<google::protobuf::Message> msg;
::grpc::Status status;
};
Rpc(const Rpc&) = delete;
Rpc& operator=(const Rpc&) = delete;
void InitializeReadersAndWriters(
::grpc::internal::RpcMethod::RpcType rpc_type);
void SendFinish(std::unique_ptr<::google::protobuf::Message> message,
::grpc::Status status);
::grpc::internal::AsyncReaderInterface<::google::protobuf::Message>*
async_reader_interface();
::grpc::internal::AsyncWriterInterface<::google::protobuf::Message>*
async_writer_interface();
::grpc::internal::ServerAsyncStreamingInterface* streaming_interface();
int method_index_;
::grpc::ServerCompletionQueue* server_completion_queue_;
ExecutionContext* execution_context_;
RpcHandlerInfo rpc_handler_info_;
Service* service_;
::grpc::ServerContext server_context_;
RpcEvent new_connection_event_;
RpcEvent read_event_;
RpcEvent write_event_;
RpcEvent finish_event_;
RpcEvent done_event_;
std::unique_ptr<google::protobuf::Message> request_;
std::unique_ptr<google::protobuf::Message> response_;
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_;
std::unique_ptr<::grpc::ServerAsyncReaderWriter<google::protobuf::Message,
google::protobuf::Message>>
server_async_reader_writer_;
std::queue<SendItem> send_queue_;
};
// This class keeps track of all in-flight RPCs for a 'Service'. Make sure that
// all RPCs have been terminated and removed from this object before it goes out
// of scope.
class ActiveRpcs {
public:
ActiveRpcs();
~ActiveRpcs() EXCLUDES(lock_);
Rpc* Add(std::unique_ptr<Rpc> rpc) EXCLUDES(lock_);
bool Remove(Rpc* rpc) EXCLUDES(lock_);
private:
cartographer::common::Mutex lock_;
std::unordered_set<Rpc*> rpcs_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_H