Merge pull request #5 from ichiro-its/feature/using-grpc

[Sprint 22 / PD-50] - [Feature] Add implementation GRPC

CMakeLists.txt

@@ -16,6 +16,43 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
+set(protobuf_MODULE_COMPATIBLE TRUE)
+find_package(Protobuf CONFIG REQUIRED)
+message(STATUS "Using protobuf ${Protobuf_VERSION}")
+
+find_package(gRPC CONFIG REQUIRED)
+message(STATUS "Using gRPC ${gRPC_VERSION}")
+
+# Generated sources
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto)
+add_custom_command(
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.pb.cc"
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.pb.h"
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.grpc.pb.cc"
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.grpc.pb.h"
+      COMMAND $<TARGET_FILE:protobuf::protoc>
+      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
+        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
+        -I ${CMAKE_CURRENT_SOURCE_DIR}/proto
+        --plugin=protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>
+        ${CMAKE_CURRENT_SOURCE_DIR}/proto/aruku.proto
+      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/proto/aruku.proto)
+
+
+add_library(aruku_proto SHARED
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.pb.cc"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.pb.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.grpc.pb.cc"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/aruku.grpc.pb.h"
+)
+
+target_compile_options(aruku_proto PRIVATE -fPIC)
+target_compile_features(aruku_proto PUBLIC cxx_std_17)
+
+target_link_libraries(aruku_proto PUBLIC  
+  protobuf::libprotobuf
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Point2.msg"
   "msg/SetConfig.msg"
@@ -24,5 +61,20 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetConfig.srv"
   "srv/SaveConfig.srv")
 
-ament_export_dependencies(rosidl_default_runtime)
+install (
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install (
+  TARGETS aruku_proto
+  EXPORT aruku_proto
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_dependencies(rosidl_default_runtime protobuf gRPC)
+ament_export_targets(aruku_proto HAS_LIBRARY_TARGET)
 ament_package()

proto/aruku.proto

@@ -0,0 +1,47 @@
+syntax = "proto3";
+
+package aruku_interfaces.proto;
+
+service Config {
+  rpc GetConfig (Empty) returns (ConfigWalking) {}
+
+  rpc SaveConfig (ConfigWalking) returns (Empty) {}
+
+  rpc PublishConfig (ConfigWalking) returns (Empty){}
+
+  rpc SetMainConfig (SetWalking) returns (Empty) {}
+
+  rpc SetAppStatus (AppStatus) returns (Empty) {}
+}
+
+message Empty {}
+
+message Point2 {
+  double x = 1;
+  double y = 2;
+}
+
+message ConfigWalking {
+  string json_kinematic = 1;
+  string json_walking = 2;
+}
+
+message SetWalking {
+  bool run = 1;
+  double x_move = 2;
+  double y_move = 3;
+  double a_move = 4;
+  bool aim_on = 5;
+}
+
+message Status {
+  bool is_running = 1;
+  double x_amplitude = 2;
+  double y_amplitude = 3;
+  double a_amplitude  = 4;
+  Point2 odometry = 5;
+}
+
+message AppStatus {
+  bool action_manager_status = 1;
+}