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