94 lines
2.9 KiB
C++
94 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_INTERNAL_FRAMEWORK_RPC_HANDLER_H
|
|
#define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
|
|
|
|
#include "cartographer_grpc/internal/framework/execution_context.h"
|
|
#include "cartographer_grpc/internal/framework/rpc.h"
|
|
#include "cartographer_grpc/internal/framework/rpc_handler_interface.h"
|
|
#include "cartographer_grpc/internal/framework/type_traits.h"
|
|
#include "glog/logging.h"
|
|
#include "google/protobuf/message.h"
|
|
#include "grpc++/grpc++.h"
|
|
|
|
namespace cartographer {
|
|
namespace cloud {
|
|
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 cloud
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H
|