[Sprint 22/23 / PD-405] [Feature] Add implementation GRPC

CMakeLists.txt

@@ -22,22 +22,58 @@ find_package(shisen_cpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 
+find_package(Protobuf CONFIG REQUIRED)
+message(STATUS "Using protobuf ${Protobuf_VERSION}")
+
+# Find gRPC installation
+# Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
+find_package(gRPC CONFIG REQUIRED)
+message(STATUS "Using gRPC ${gRPC_VERSION}")
+
 add_library(${PROJECT_NAME} SHARED
+  "src/${PROJECT_NAME}/config/grpc/config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_get_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_save_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_set_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/utils/config.cpp"
   "src/${PROJECT_NAME}/detector/color_detector.cpp"
   "src/${PROJECT_NAME}/detector/dnn_detector.cpp"
   "src/${PROJECT_NAME}/detector/lbp_detector.cpp"
   "src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
   "src/${PROJECT_NAME}/utils/color.cpp"
   "src/${PROJECT_NAME}/utils/contours.cpp"
-  "src/${PROJECT_NAME}/utils/circle.cpp"
-  "src/${PROJECT_NAME}/node/ninshiki_cpp_node.cpp"
-  "src/${PROJECT_NAME}/utils/utils.cpp")
+  "src/${PROJECT_NAME}/utils/utils.cpp"
+)
+
+add_library(${PROJECT_NAME}_exported SHARED
+  "src/${PROJECT_NAME}/detector/color_detector.cpp"
+  "src/${PROJECT_NAME}/detector/dnn_detector.cpp"
+  "src/${PROJECT_NAME}/detector/lbp_detector.cpp"
+  "src/${PROJECT_NAME}/utils/color.cpp"
+  "src/${PROJECT_NAME}/utils/contours.cpp"
+  "src/${PROJECT_NAME}/utils/utils.cpp"
+)
 
 target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_include_directories(${PROJECT_NAME}_exported PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
 ament_target_dependencies(${PROJECT_NAME}
+  keisan
+  ninshiki_interfaces
+  OpenCV
+  rclcpp
+  shisen_cpp
+  sensor_msgs
+  cv_bridge
+  gRPC)
+
+ament_target_dependencies(${PROJECT_NAME}_exported
   keisan
   ninshiki_interfaces
   OpenCV
@@ -46,13 +82,28 @@ ament_target_dependencies(${PROJECT_NAME}
   sensor_msgs
   cv_bridge)
 
+target_link_libraries(${PROJECT_NAME}
+  gRPC::grpc++_reflection
+  gRPC::grpc++
+)
+
 install(DIRECTORY "include" DESTINATION ".")
 
 install(TARGETS ${PROJECT_NAME}
-  EXPORT export_${PROJECT_NAME}
+EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION "lib"
+  LIBRARY DESTINATION "lib"
+  RUNTIME DESTINATION "bin"
+  INCLUDES DESTINATION "include")
+
+install(TARGETS ${PROJECT_NAME}_exported
+EXPORT export_${PROJECT_NAME}_exported
   ARCHIVE DESTINATION "lib"
   LIBRARY DESTINATION "lib"
-  RUNTIME DESTINATION "bin")
+  RUNTIME DESTINATION "bin"
+  INCLUDES DESTINATION "include")
+
+target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
 
 add_executable(detector "src/ninshiki_cpp_detector.cpp")
 target_include_directories(detector PUBLIC
@@ -78,5 +129,5 @@ ament_export_dependencies(
   sensor_msgs
   cv_bridge)
 ament_export_include_directories("include")
-ament_export_libraries(${PROJECT_NAME})
+ament_export_libraries(${PROJECT_NAME}_exported)
 ament_package()

include/ninshiki_cpp/config/grpc/call_data.hpp

@@ -0,0 +1,87 @@
+// Copyright (c) 2024 Ichiro ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef __NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_HPP__
+#define __NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_HPP__
+
+#include "ninshiki_cpp/config/grpc/call_data_base.hpp"
+#include "ninshiki_interfaces/ninshiki.grpc.pb.h"
+#include "ninshiki_interfaces/ninshiki.pb.h"
+#include "grpc/support/log.h"
+#include "grpcpp/grpcpp.h"
+
+namespace ninshiki_cpp
+{
+template <class ConfigRequest, class ConfigReply>
+class CallData : public CallDataBase
+{
+public:
+  CallData(
+    ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path);
+
+  void Proceed();
+
+protected:
+  virtual void AddNextToCompletionQueue() = 0;
+
+  enum CallStatus { CREATE, PROCESS, FINISH };
+
+  CallStatus status_;  // The current serving state.
+
+  ninshiki_interfaces::proto::Config::AsyncService * service_;
+
+  const std::string path_;
+
+  grpc::ServerCompletionQueue * cq_;
+  grpc::ServerContext ctx_;
+  ConfigRequest request_;
+  ConfigReply reply_;
+  grpc::ServerAsyncResponseWriter<ConfigReply> responder_;
+};
+
+template <class ConfigRequest, class ConfigReply>
+CallData<ConfigRequest, ConfigReply>::CallData(
+  ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+  const std::string & path)
+: status_(CREATE), service_(service), cq_(cq), responder_(&ctx_), path_(path)
+{
+}
+
+template <class ConfigRequest, class ConfigReply>
+void CallData<ConfigRequest, ConfigReply>::Proceed()
+{
+  if (status_ == CREATE) {
+    status_ = PROCESS;
+    WaitForRequest();
+  } else if (status_ == PROCESS) {
+    AddNextToCompletionQueue();
+    HandleRequest();
+    status_ = FINISH;
+    responder_.Finish(reply_, grpc::Status::OK, this);
+  } else {
+    GPR_ASSERT(status_ == FINISH);
+    delete this;
+  }
+}
+
+}  // namespace ninshiki_cpp
+
+#endif  // __NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_HPP__

include/ninshiki_cpp/utils/circle.hpp → include/ninshiki_cpp/config/grpc/call_data_base.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2021 ICHIRO ITS
+// Copyright (c) 2024 Ichiro ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -18,32 +18,20 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#ifndef NINSHIKI_CPP__UTILS__CIRCLE_HPP_
-#define NINSHIKI_CPP__UTILS__CIRCLE_HPP_
+#ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_
+#define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_
 
-#include <opencv2/opencv.hpp>
-#include <vector>
-
-namespace ninshiki_cpp::utils
+namespace ninshiki_cpp
 {
-
-class Circle
+class CallDataBase
 {
-private:
-
-    cv::Point2f center;
-    float radius;
-
 public:
+  virtual void Proceed() = 0;
 
-    Circle(const std::vector<cv::Point> & contour);
-
-    void draw(cv::Mat & image, int line_size) const;
-
-    const cv::Point2f & get_center() const;
-    const float get_radius() const;
+protected:
+  virtual void WaitForRequest() = 0;
+  virtual void HandleRequest() = 0;
 };
+}  // namespace ninshiki_cpp
 
-}  // namespace ninshiki_cpp::utils
-
-#endif // NINSHIKI_CPP__UTILS__CIRCLES_HPP_
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_

include/ninshiki_cpp/config/grpc/call_data_get_color_setting.hpp

@@ -0,0 +1,43 @@
+// Copyright (c) 2024 Ichiro ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__
+#define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__
+
+#include <ninshiki_cpp/config/grpc/call_data.hpp>
+
+namespace ninshiki_cpp
+{
+class CallDataGetColorSetting
+: CallData<ninshiki_interfaces::proto::Empty, ninshiki_interfaces::proto::ConfigColor>
+{
+public:
+  CallDataGetColorSetting(
+    ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path);
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+};
+}  // namespace ninshiki_cpp
+
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__

include/ninshiki_cpp/config/grpc/call_data_save_color_setting.hpp

@@ -0,0 +1,45 @@
+// Copyright (c) 2024 Ichiro ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__
+#define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__
+
+#include <ninshiki_cpp/config/grpc/call_data.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace ninshiki_cpp
+{
+class CallDataSaveColorSetting
+: CallData<ninshiki_interfaces::proto::ConfigColor, ninshiki_interfaces::proto::Empty>
+{
+public:
+  CallDataSaveColorSetting(
+    ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path);
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+};
+
+}  // namespace ninshiki_cpp
+
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SAVE_COLOR_SETTING_HPP__

include/ninshiki_cpp/config/grpc/call_data_set_color_setting.hpp

@@ -0,0 +1,48 @@
+// Copyright (c) 2024 Ichiro ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__
+#define NINSHIKI_CPP_CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__
+
+#include <rclcpp/rclcpp.hpp>
+#include <ninshiki_cpp/config/grpc/call_data.hpp>
+#include <ninshiki_cpp/detector/color_detector.hpp>
+#include <ninshiki_cpp/utils/color.hpp>
+
+namespace ninshiki_cpp
+{
+class CallDataSetColorSetting
+: CallData<ninshiki_interfaces::proto::ColorSetting, ninshiki_interfaces::proto::Empty>
+{
+public:
+  CallDataSetColorSetting(
+    ninshiki_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path, std::shared_ptr<ninshiki_cpp::detector::ColorDetector> color_detection);
+    using ColorDetector = ninshiki_cpp::detector::ColorDetector;
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+  std::shared_ptr<ColorDetector> color_detection_;
+};
+}  // namespace ninshiki_cpp
+
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_SET_COLOR_SETTING_HPP__