feat: add config for grpc port on akushon

include/akushon/config/grpc/config.hpp

@@ -42,7 +42,8 @@ class ConfigGrpc
 
   ~ConfigGrpc();
 
-  void Run(uint16_t port, const std::string & path, rclcpp::Node::SharedPtr & node,
+  void Run(
+    const std::string & path, rclcpp::Node::SharedPtr & node,
     const std::shared_ptr<akushon::ActionManager> & action_manager);
 
 private:

include/akushon/config/utils/config.hpp

@@ -23,6 +23,7 @@
 
 #include <fstream>
 #include <string>
+#include "nlohmann/json.hpp"
 
 namespace akushon
 {
@@ -35,6 +36,8 @@ class Config
   std::string get_config() const;
   void save_config(const std::string & actions_data);
 
+  nlohmann::json get_grpc_config() const;
+
 private:
   std::string path;
 };

src/akushon/action/node/action_manager.cpp

@@ -76,6 +76,10 @@ void ActionManager::load_config(const std::string & path)
     }
 
     try {
+      if (name == "grpc") {
+        printf("skipping grpc.json\n");
+        continue;
+      }
       std::ifstream file(file_name);
       nlohmann::json action_data = nlohmann::json::parse(file);
 

src/akushon/config/grpc/config.cpp

@@ -25,15 +25,15 @@
 #include <future>
 #include <string>
 
-#include "akushon/config/utils/config.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "akushon/config/grpc/call_data_get_config.hpp"
 #include "akushon/config/grpc/call_data_load_config.hpp"
-#include "akushon/config/grpc/call_data_save_config.hpp"
 #include "akushon/config/grpc/call_data_publish_set_joints.hpp"
 #include "akushon/config/grpc/call_data_publish_set_torques.hpp"
-#include "akushon/config/grpc/call_data_subscribe_current_joints.hpp"
 #include "akushon/config/grpc/call_data_run_action.hpp"
+#include "akushon/config/grpc/call_data_save_config.hpp"
+#include "akushon/config/grpc/call_data_subscribe_current_joints.hpp"
+#include "akushon/config/utils/config.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 using grpc::ServerBuilder;
 using namespace std::chrono_literals;
@@ -49,10 +49,13 @@ ConfigGrpc::~ConfigGrpc()
   cq_->Shutdown();
 }
 
-void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::SharedPtr& node,
-  const std::shared_ptr<ActionManager>& action_manager)
+void ConfigGrpc::Run(
+  const std::string & path, rclcpp::Node::SharedPtr & node,
+  const std::shared_ptr<ActionManager> & action_manager)
 {
-  std::string server_address = absl::StrFormat("0.0.0.0:%d", port);
+  Config config(path);
+  std::string server_address =
+    absl::StrFormat("0.0.0.0:%d", config.get_grpc_config()["port"].get<uint16_t>());
 
   ServerBuilder builder;
   builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
@@ -85,6 +88,7 @@ void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::Share
     }
   });
   std::this_thread::sleep_for(200ms);
+  async_server.detach();
 }
 
 }  // namespace akushon

src/akushon/config/node/config_node.cpp

@@ -51,7 +51,7 @@ ConfigNode::ConfigNode(rclcpp::Node::SharedPtr node, const std::string & path,
       response->status = "SAVED";
     }
   );
-  config_grpc.Run(5060, path, node, action_manager);
+  config_grpc.Run(path, node, action_manager);
   RCLCPP_INFO(rclcpp::get_logger("GrpcServers"), "grpc running");
 }
 

src/akushon/config/utils/config.cpp

@@ -25,7 +25,6 @@
 
 #include "akushon/action/model/action_name.hpp"
 #include "akushon/config/utils/config.hpp"
-#include "nlohmann/json.hpp"
 
 namespace akushon
 {
@@ -47,6 +46,9 @@ std::string Config::get_config() const
       for (auto i = path.size(); i < file_name.size() - 5; i++) {
         action_name += file_name[i];
       }
+      if (action_name == "grpc") {
+        continue;
+      }
       std::cout << action_name << " | ";
 
       std::ifstream file(action_file.path());
@@ -61,6 +63,14 @@ std::string Config::get_config() const
   return actions_list.dump();
 }
 
+nlohmann::json Config::get_grpc_config() const
+{  
+    std::ifstream grpc_file(this->path + "grpc.json");
+    nlohmann::json grpc_data = nlohmann::json::parse(grpc_file);
+    grpc_file.close();
+    return grpc_data;
+}
+
 void Config::save_config(const std::string & actions_data)
 {
   nlohmann::json actions_list = nlohmann::json::parse(actions_data);