dronecore_server: make a library out of the grpc server

* Required for some platforms (e.g. iOS) * Rename dronecore_server into libdronecore_backend and backend_bin * Use smart pointers and references instead of pointers
mavlink · Feb 28, 2018 · f27110e · f27110e
1 parent 813224a
commit f27110e
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Showing 13 changed files with 237 additions and 168 deletions.
diff --git a/core/device.cpp b/core/device.cpp
@@ -387,7 +387,7 @@ void Device::set_disconnected()
         _parent->notify_on_timeout(_target_uuid);
 
         // Let's reset the flag hope again for the next time we see this target.
-        _target_uuid_initialized = 0;
+        _target_uuid_initialized = false;
     }
 
     {

diff --git a/grpc/server/CMakeLists.txt b/grpc/server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.1)
 
 project(dronecore-server)
 

diff --git a/grpc/server/src/CMakeLists.txt b/grpc/server/src/CMakeLists.txt
@@ -1,67 +1,33 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.1)
 
-file(STRINGS ${PLUGINS_DIR}/plugins.conf PLUGINS_LIST)
+set(COMPONENTS_LIST core action mission telemetry)
 
-set(PROTOC_BINARY ${CMAKE_BINARY_DIR}/../default/third_party/protobuf/bin/protoc)
-set(GRPC_CPP_PLUGIN_BINARY ${CMAKE_BINARY_DIR}/../default/third_party/grpc/bin/grpc_cpp_plugin)
+include(cmake/compile_proto.cmake)
 
-if(NOT EXISTS ${PROTOC_BINARY} OR NOT EXISTS ${GRPC_CPP_PLUGIN_BINARY})
-    message(FATAL_ERROR "Could not find 'protoc' or 'grpc_cpp_plugin' in the 'default' build folder. Please build for your host first (`make BUILD_DRONECORESERVER=YES default`).")
-endif()
+foreach(COMPONENT_NAME ${COMPONENTS_LIST})
+    compile_proto_pb(${COMPONENT_NAME} PB_COMPILED_SOURCE)
+    list(APPEND PB_COMPILED_SOURCES ${PB_COMPILED_SOURCE})
 
-add_custom_command(OUTPUT core/core.grpc.pb.cc
-    COMMAND ${PROTOC_BINARY}
-        -I ${PROTO_DIR}
-        --grpc_out=.
-        --plugin=protoc-gen-grpc=${GRPC_CPP_PLUGIN_BINARY}
-        ${PROTO_DIR}/core/core.proto;
-)
-
-add_custom_command(OUTPUT core/core.pb.cc
-    COMMAND ${PROTOC_BINARY}
-        -I ${PROTO_DIR}
-        --cpp_out=.
-        ${PROTO_DIR}/core/core.proto
-)
-
-foreach(PLUGIN ${PLUGINS_LIST})
-    add_custom_command(OUTPUT ${PLUGIN}/${PLUGIN}.grpc.pb.cc
-        COMMAND ${PROTOC_BINARY}
-            -I ${PROTO_DIR}
-            --grpc_out=.
-            --plugin=protoc-gen-grpc=${GRPC_CPP_PLUGIN_BINARY}
-            --cpp_out=.
-            ${PROTO_DIR}/${PLUGIN}/${PLUGIN}.proto
-    )
-endforeach()
-
-foreach(PLUGIN ${PLUGINS_LIST})
-    add_custom_command(OUTPUT ${PLUGIN}/${PLUGIN}.pb.cc
-        COMMAND ${PROTOC_BINARY}
-            -I ${PROTO_DIR}
-            --cpp_out=.
-            ${PROTO_DIR}/${PLUGIN}/${PLUGIN}.proto
-    )
+    compile_proto_grpc(${COMPONENT_NAME} GRPC_COMPILED_SOURCE)
+    list(APPEND GRPC_COMPILED_SOURCES ${GRPC_COMPILED_SOURCE})
 endforeach()
 
-set(PLUGINS_SRC dronecore_server.cpp core/core.pb.cc core/core.grpc.pb.cc)
-foreach(PLUGIN ${PLUGINS_LIST})
-    list(APPEND PLUGINS_SRC ${PLUGIN}/${PLUGIN}.pb.cc)
-    list(APPEND PLUGINS_SRC ${PLUGIN}/${PLUGIN}.grpc.pb.cc)
-endforeach()
-
-add_executable(dronecore_server ${PLUGINS_SRC})
+add_library(backend
+    backend.cpp
+    ${GRPC_COMPILED_SOURCES}
+    ${PB_COMPILED_SOURCES}
+)
 
-target_compile_options(
-    dronecore_server
-    PUBLIC
-    -Wno-unused-parameter
-    -Wno-shadow
+target_link_libraries(backend
+    dronecore
+    dronecore_action
+    dronecore_mission
+    dronecore_telemetry
+    gRPC::grpc++
 )
 
-target_include_directories(
-    dronecore_server
-    PUBLIC
+target_include_directories(backend
+    PRIVATE
     ${CMAKE_SOURCE_DIR}/core
     ${CMAKE_SOURCE_DIR}/plugins/action
     ${CMAKE_SOURCE_DIR}/plugins/mission
@@ -70,12 +36,16 @@ target_include_directories(
     ${PLUGINS_DIR}
 )
 
-target_link_libraries(
-    dronecore_server
+add_executable(backend_bin
+    dronecore_server.cpp
+)
+
+target_link_libraries(backend_bin
+    backend
     dronecore
-    dronecore_action
-    dronecore_mission
-    dronecore_telemetry
-    gRPC::grpc++
-    dl
+)
+
+target_include_directories(backend_bin
+    PRIVATE
+    ${CMAKE_SOURCE_DIR}/core
 )
diff --git a/grpc/server/src/backend.cpp b/grpc/server/src/backend.cpp
@@ -0,0 +1,110 @@
+#include "backend.h"
+
+#include <grpc/grpc.h>
+#include <grpc++/server.h>
+#include <grpc++/server_builder.h>
+#include <grpc++/server_context.h>
+#include <grpc++/security/server_credentials.h>
+
+#include "action/actionrpc_impl.h"
+#include "core/corerpc_impl.h"
+#include "log.h"
+#include "mission/missionrpc_impl.h"
+#include "telemetry/telemetryrpc_impl.h"
+
+namespace dronecore {
+namespace backend {
+
+bool DroneCoreBackend::run(const int mavlink_listen_port)
+{
+    if (!connect_to_vehicle(mavlink_listen_port)) {
+        return false;
+    }
+
+    grpc::ServerBuilder builder;
+    setup_port(builder);
+
+    CoreServiceImpl core(dc);
+    builder.RegisterService(&core);
+
+    Action action(&dc.device());
+    ActionServiceImpl actionService(action);
+    builder.RegisterService(&actionService);
+
+    Mission mission(&dc.device());
+    MissionServiceImpl missionService(mission);
+    builder.RegisterService(&missionService);
+
+    Telemetry telemetry(&dc.device());
+    TelemetryServiceImpl telemetryService(telemetry);
+    builder.RegisterService(&telemetryService);
+
+    server = builder.BuildAndStart();
+    LogInfo() << "Server started";
+    server->Wait();
+
+    return true;
+}
+
+bool DroneCoreBackend::connect_to_vehicle(const int port)
+{
+    if (!add_udp_connection(port)) {
+        return false;
+    }
+
+    log_uuid_on_timeout();
+    wait_for_discovery();
+
+    return true;
+}
+
+bool DroneCoreBackend::add_udp_connection(const int port)
+{
+    dronecore::ConnectionResult connection_result = dc.add_udp_connection(port);
+
+    if (connection_result != ConnectionResult::SUCCESS) {
+        LogErr() << "Connection failed: " << connection_result_str(connection_result);
+        return false;
+    }
+
+    return true;
+}
+
+void DroneCoreBackend::log_uuid_on_timeout()
+{
+    dc.register_on_timeout([](uint64_t uuid) {
+        LogInfo() << "Device timed out [UUID: " << uuid << "]";
+    });
+}
+
+void DroneCoreBackend::wait_for_discovery()
+{
+    LogInfo() << "Waiting to discover device...";
+    auto discoveryFuture = wrapped_register_on_discover();
+    discoveryFuture.wait();
+    LogInfo() << "Device discovered [UUID: " << discoveryFuture.get() << "]";
+}
+
+std::future<uint64_t> DroneCoreBackend::wrapped_register_on_discover()
+{
+    auto promise = std::make_shared<std::promise<uint64_t>>();
+    auto future = promise->get_future();
+
+    dc.register_on_discover([this, promise](uint64_t uuid) {
+        std::call_once(discovery_flag, [promise, uuid]() {
+            promise->set_value(uuid);
+        });
+    });
+
+    return future;
+}
+
+void DroneCoreBackend::setup_port(grpc::ServerBuilder &builder)
+{
+    std::string server_address("0.0.0.0:50051");
+    builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
+    LogInfo() << "Server set to listen on " << server_address;
+}
+
+} // namespace backend
+} //namespace dronecore
diff --git a/grpc/server/src/backend.h b/grpc/server/src/backend.h
@@ -0,0 +1,33 @@
+#include <future>
+#include <grpc++/server.h>
+#include <memory>
+
+#include "dronecore.h"
+
+namespace dronecore {
+namespace backend {
+
+class DroneCoreBackend
+{
+public:
+    DroneCoreBackend() {}
+    ~DroneCoreBackend() {}
+
+    bool run(const int mavlink_listen_port = 14540);
+
+private:
+    bool connect_to_vehicle(int port);
+    bool add_udp_connection(int port);
+    void log_uuid_on_timeout();
+    void wait_for_discovery();
+    std::future<uint64_t> wrapped_register_on_discover();
+
+    bool run_server();
+    void setup_port(grpc::ServerBuilder &builder);
+
+    dronecore::DroneCore dc;
+    std::unique_ptr<grpc::Server> server;
+};
+
+} // namespace backend
+} // namespace dronecore
diff --git a/grpc/server/src/cmake/compile_proto.cmake b/grpc/server/src/cmake/compile_proto.cmake
@@ -0,0 +1,30 @@
+set(PROTOC_BINARY ${CMAKE_BINARY_DIR}/../default/third_party/protobuf/bin/protoc)
+set(GRPC_CPP_PLUGIN_BINARY ${CMAKE_BINARY_DIR}/../default/third_party/grpc/bin/grpc_cpp_plugin)
+
+if(NOT EXISTS ${PROTOC_BINARY} OR NOT EXISTS ${GRPC_CPP_PLUGIN_BINARY})
+    message(FATAL_ERROR "Could not find 'protoc' or 'grpc_cpp_plugin' in the 'default' build folder. Please build for your host first (`make BUILD_DRONECORESERVER=YES default`).")
+endif()
+
+function(compile_proto_pb COMPONENT_NAME PB_COMPILED_SOURCE)
+    add_custom_command(OUTPUT ${COMPONENT_NAME}/${COMPONENT_NAME}.pb.cc
+        COMMAND ${PROTOC_BINARY}
+            -I ${PROTO_DIR}
+            --cpp_out=.
+            ${PROTO_DIR}/${COMPONENT_NAME}/${COMPONENT_NAME}.proto
+    )
+
+    set(PB_COMPILED_SOURCE ${COMPONENT_NAME}/${COMPONENT_NAME}.pb.cc PARENT_SCOPE)
+endfunction()
+
+function(compile_proto_grpc COMPONENT_NAME GRPC_COMPILED_SOURCES)
+    add_custom_command(OUTPUT ${COMPONENT_NAME}/${COMPONENT_NAME}.grpc.pb.cc
+        COMMAND ${PROTOC_BINARY}
+            -I ${PROTO_DIR}
+            --grpc_out=.
+            --plugin=protoc-gen-grpc=${GRPC_CPP_PLUGIN_BINARY}
+            --cpp_out=.
+            ${PROTO_DIR}/${COMPONENT_NAME}/${COMPONENT_NAME}.proto
+    )
+
+    set(GRPC_COMPILED_SOURCE ${COMPONENT_NAME}/${COMPONENT_NAME}.grpc.pb.cc PARENT_SCOPE)
+endfunction()
diff --git a/grpc/server/src/core/corerpc_impl.h b/grpc/server/src/core/corerpc_impl.h
@@ -9,18 +9,16 @@ using namespace dronecore;
 class CoreServiceImpl final: public rpc::core::CoreService::Service
 {
 public:
-    CoreServiceImpl(DroneCore *dc_obj)
-    {
-        dc = dc_obj;
-    }
+    CoreServiceImpl(DroneCore &dc)
+        : dc(dc) {}
 
     Status SubscribeDevices(ServerContext *context,
                             const rpc::core::SubscribeDevicesRequest *request,
                             ServerWriter<rpc::core::Device> *writer) override
     {
-        std::vector<uint64_t> list = dc->device_uuids();
+        std::vector<uint64_t> list = dc.device_uuids();
 
-        for (auto uuid : dc->device_uuids()) {
+        for (auto uuid : dc.device_uuids()) {
             auto *rpc_uuid = new rpc::core::UUID();
             rpc_uuid->set_value(uuid);
 
@@ -34,5 +32,5 @@ class CoreServiceImpl final: public rpc::core::CoreService::Service
     }
 
 private:
-    DroneCore *dc;
+    DroneCore &dc;
 };