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

CMakeLists.txt

@@ -16,6 +16,47 @@ 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}")
+
+set(_PROTOBUF_LIBPROTOBUF protobuf::libprotobuf)
+set(_REFLECTION gRPC::grpc++_reflection)
+set(_PROTOBUF_PROTOC $<TARGET_FILE:protobuf::protoc>)
+
+find_package(gRPC CONFIG REQUIRED)
+message(STATUS "Using gRPC ${gRPC_VERSION}")
+
+set(_GRPC_GRPCPP gRPC::grpc++)
+set(_GRPC_CPP_PLUGIN_EXECUTABLE $<TARGET_FILE:gRPC::grpc_cpp_plugin>)
+
+# Proto file
+get_filename_component(aruku_proto "./proto/aruku.proto" ABSOLUTE)
+get_filename_component(aruku_proto_path "${aruku_proto}" PATH)
+
+# Generated sources
+add_custom_command(
+      OUTPUT "${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.cc}" "${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.h}" "${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.h}" "${${CMAKE_CURRENT_BINARY_DIR}/aruku.grpc.pb.h}"
+      COMMAND ${_PROTOBUF_PROTOC}
+      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}"
+        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}"
+        -I "${aruku_proto_path}"
+        --plugin=protoc-gen-grpc="${_GRPC_CPP_PLUGIN_EXECUTABLE}"
+        "${aruku_proto}"
+      DEPENDS "${aruku_proto}")
+
+add_library(aruku_proto
+  ${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.cc}
+  ${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.h}
+  ${${CMAKE_CURRENT_BINARY_DIR}/aruku.pb.h}
+  ${${CMAKE_CURRENT_BINARY_DIR}/aruku.grpc.pb.h})
+
+target_link_libraries(aruku_proto
+  ${_REFLECTION}
+  ${_GRPC_GRPCPP}
+  ${_PROTOBUF_LIBPROTOBUF}
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Point2.msg"
   "msg/SetConfig.msg"
@@ -25,4 +66,20 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SaveConfig.srv")
 
 ament_export_dependencies(rosidl_default_runtime)
+ament_export_targets(aruku_proto HAS_LIBRARY_TARGET)
+
+install (
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DESTINATION include
+)
+
+install (
+  TARGETS aruku_proto
+  EXPORT aruku_proto
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 ament_package()

proto/aruku.proto

@@ -0,0 +1,42 @@
+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) {}
+}
+
+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;
+}
+