92 lines
2.9 KiB
C++
92 lines
2.9 KiB
C++
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
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#include "cartographer_grpc/framework/execution_context.h"
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#include "cartographer_grpc/framework/rpc.h"
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#include "cartographer_grpc/framework/rpc_handler_interface.h"
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#include "cartographer_grpc/framework/type_traits.h"
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#include "glog/logging.h"
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#include "google/protobuf/message.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace framework {
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template <typename Incoming, typename Outgoing>
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class RpcHandler : public RpcHandlerInterface {
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public:
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using IncomingType = Incoming;
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using OutgoingType = Outgoing;
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using RequestType = StripStream<Incoming>;
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using ResponseType = StripStream<Outgoing>;
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class Writer {
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public:
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explicit Writer(std::weak_ptr<Rpc> rpc) : rpc_(std::move(rpc)) {}
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bool Write(std::unique_ptr<ResponseType> message) const {
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if (auto rpc = rpc_.lock()) {
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rpc->Write(std::move(message));
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return true;
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}
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return false;
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}
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bool WritesDone() const {
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if (auto rpc = rpc_.lock()) {
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rpc->Finish(::grpc::Status::OK);
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return true;
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}
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return false;
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}
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private:
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const std::weak_ptr<Rpc> rpc_;
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};
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void SetExecutionContext(ExecutionContext* execution_context) override {
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execution_context_ = execution_context;
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}
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void SetRpc(Rpc* rpc) override { rpc_ = rpc; }
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void OnRequestInternal(const ::google::protobuf::Message* request) override {
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DCHECK(dynamic_cast<const RequestType*>(request));
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OnRequest(static_cast<const RequestType&>(*request));
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}
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virtual void OnRequest(const RequestType& request) = 0;
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void Finish(::grpc::Status status) { rpc_->Finish(status); }
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void Send(std::unique_ptr<ResponseType> response) {
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rpc_->Write(std::move(response));
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}
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template <typename T>
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ExecutionContext::Synchronized<T> GetContext() {
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return {execution_context_->lock(), execution_context_};
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}
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template <typename T>
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T* GetUnsynchronizedContext() {
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return dynamic_cast<T*>(execution_context_);
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}
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Writer GetWriter() { return Writer(rpc_->GetWeakPtr()); }
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private:
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Rpc* rpc_;
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ExecutionContext* execution_context_;
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};
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} // namespace framework
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_FRAMEWORK_RPC_HANDLER_H
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