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

.vscode/c_cpp_properties.json

@@ -0,0 +1,51 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/suiryoku/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/atama/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/aruku/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/kansei/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/akushon/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/tachimawari/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/tachimawari_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/suiryoku_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_cpp/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/shisen_cpp/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/shisen_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/keisan/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/kansei_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/image_geometry/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/cv_bridge/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/atama_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/aruku_interfaces/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/akushon_interfaces/include/**",
+        "/opt/ros/iron/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/akushon/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/aruku/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/atama/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/kansei/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/keisan/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/ninshiki_cpp/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/shisen_cpp/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/soccer/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/suiryoku/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/tachimawari/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/vision_opencv/cv_bridge/include/**",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/src/vision_opencv/image_geometry/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,34 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/tachimawari_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/suiryoku_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_py/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/shisen_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/opencv_tests/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/kansei_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/image_geometry/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/cv_bridge/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/atama_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/aruku_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/akushon_interfaces/lib/python3.10/site-packages",
+        "/opt/ros/iron/lib/python3.10/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/tachimawari_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/suiryoku_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_py/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/shisen_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/opencv_tests/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/ninshiki_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/kansei_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/image_geometry/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/cv_bridge/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/atama_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/aruku_interfaces/lib/python3.10/site-packages",
+        "/home/mbsaloka/Desktop/Ichiro/ros2-ws/install/akushon_interfaces/lib/python3.10/site-packages",
+        "/opt/ros/iron/lib/python3.10/site-packages"
+    ]
+}

CMakeLists.txt

@@ -20,19 +20,31 @@ find_package(OpenCV REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(shisen_cpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(Protobuf CONFIG REQUIRED)
+message(STATUS "Using protobuf ${Protobuf_VERSION}")
+
+install(DIRECTORY "include" DESTINATION ".")
 find_package(cv_bridge REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
+  "src/${PROJECT_NAME}/config/utils/config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/config.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_base.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_get_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_set_color_setting.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_save_color_setting.cpp"
   "src/${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}/node/ninshiki_cpp_node.cpp"
-  "src/${PROJECT_NAME}/utils/utils.cpp")
+  "src/${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>)
 
@@ -45,14 +57,19 @@ ament_target_dependencies(${PROJECT_NAME}
   sensor_msgs
   cv_bridge)
 
-install(DIRECTORY "include" DESTINATION ".")
+# target_link_libraries(${PROJECT_NAME}
+#   gRPC::grpc++_reflection
+#   gRPC::grpc++
+# )
 
 install(TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION "lib"
   LIBRARY DESTINATION "lib"
   RUNTIME DESTINATION "bin")
 
+target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
+
 add_executable(detector "src/ninshiki_cpp_detector.cpp")
 target_include_directories(detector PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

data/color_classifier.json

@@ -0,0 +1,38 @@
+{
+  "ball": {
+    "max_hsv": [
+      179,
+      100,
+      100
+    ],
+    "min_hsv": [
+      151,
+      40,
+      10
+    ]
+  },
+  "field": {
+    "max_hsv": [
+      116,
+      100,
+      100
+    ],
+    "min_hsv": [
+      84,
+      10,
+      0
+    ]
+  },
+  "line": {
+    "max_hsv": [
+      260,
+      60,
+      100
+    ],
+    "min_hsv": [
+      180,
+      0,
+      55
+    ]
+  }
+}

data/grpc.json

@@ -0,0 +1,3 @@
+{
+    "port": 5858
+}

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/config/grpc/call_data_base.hpp

@@ -0,0 +1,39 @@
+// 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_BASE_HPP_
+#define NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_BASE_HPP_
+
+namespace ninshiki_cpp
+{
+class CallDataBase
+{
+public:
+  CallDataBase();
+
+  virtual void Proceed() = 0;
+
+protected:
+  virtual void WaitForRequest() = 0;
+  virtual void HandleRequest() = 0;
+};
+}  // namespace ninshiki_cpp
+
+#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();
+  void HandleRequest();
+};
+}  // namespace ninshiki_cpp
+
+#endif  // NINSHIKI_CPP__CONFIG__GRPC__CALL_DATA_GET_COLOR_SETTING_HPP__