105 lines
3.1 KiB
C++
105 lines
3.1 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_SERVER_H
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#define CARTOGRAPHER_GRPC_FRAMEWORK_SERVER_H
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#include <cstddef>
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#include <memory>
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#include <string>
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#include <thread>
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/completion_queue_thread.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/framework/service.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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class Server {
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private:
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// All options that configure server behaviour such as number of threads,
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// ports etc.
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struct Options {
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size_t number_of_threads = 4;
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std::string server_address = "0.0.0.0:50051";
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};
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public:
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// This 'Builder' is the only way to construct a 'Server'.
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class Builder {
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public:
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Builder() = default;
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std::unique_ptr<Server> Build();
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void SetNumberOfThreads(std::size_t number_of_threads);
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void SetServerAddress(const std::string& server_address);
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template <typename RpcHandlerType, typename ServiceType>
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void RegisterHandler(const std::string& method_name) {
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rpc_handlers_[ServiceType::service_full_name()].emplace(
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method_name,
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RpcHandlerInfo{
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RpcHandlerType::RequestType::default_instance().GetDescriptor(),
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RpcHandlerType::ResponseType::default_instance().GetDescriptor(),
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[](Rpc* const rpc) {
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std::unique_ptr<RpcHandlerInterface> rpc_handler =
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cartographer::common::make_unique<RpcHandlerType>();
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rpc_handler->SetRpc(rpc);
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return rpc_handler;
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}});
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}
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private:
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using ServiceInfo = std::map<std::string, RpcHandlerInfo>;
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Options options_;
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std::map<std::string, ServiceInfo> rpc_handlers_;
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};
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friend class Builder;
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// Starts a server and waits for its termination.
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void StartAndWait();
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private:
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Server(const Options& options);
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Server(const Server&) = delete;
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Server& operator=(const Server&) = delete;
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void AddService(
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const std::string& service_name,
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const std::map<std::string, RpcHandlerInfo>& rpc_handler_infos);
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Options options_;
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// gRPC objects needed to build a server.
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::grpc::ServerBuilder server_builder_;
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std::unique_ptr<::grpc::Server> server_;
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// Threads processing the completion queues.
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std::vector<CompletionQueueThread> completion_queue_threads_;
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// Map of service names to services.
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std::map<std::string, Service> services_;
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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_SERVER_H
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