238 refactor dronecore server #295
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| Original file line number | Diff line number | Diff line change |
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@@ -20,6 +20,4 @@ target_link_libraries(unit_tests_runner | |
| gmock | ||
| ) | ||
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| add_test(unit_tests unit_tests_runner) | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,19 @@ | ||
| #include <gmock/gmock.h> | ||
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| #include "connection_result.h" | ||
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| namespace dronecore { | ||
| namespace testing { | ||
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| typedef std::function<void(uint64_t uuid)> event_callback_t; | ||
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| class MockDroneCore | ||
| { | ||
| public: | ||
| MOCK_CONST_METHOD1(add_udp_connection, ConnectionResult(int local_port_number)); | ||
| MOCK_CONST_METHOD1(register_on_discover, void(event_callback_t)); | ||
| MOCK_CONST_METHOD1(register_on_timeout, void(event_callback_t)); | ||
| }; | ||
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| } // testing | ||
| } // dronecore |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,56 @@ | ||
| #include "backend.h" | ||
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| #include <grpc/grpc.h> | ||
| #include <grpc++/server.h> | ||
| #include <grpc++/server_builder.h> | ||
| #include <grpc++/server_context.h> | ||
| #include <grpc++/security/server_credentials.h> | ||
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| #include "action/actionrpc_impl.h" | ||
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There was a problem hiding this comment. So ideally, backend shall include all plugin header files as it doesn't know what a user wants. Is that right ? There was a problem hiding this comment. Ideally, plugins are somehow loaded dynamically. But the first version is hard-coded because it is faster to do xD. |
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| #include "core/corerpc_impl.h" | ||
| #include "log.h" | ||
| #include "mission/missionrpc_impl.h" | ||
| #include "telemetry/telemetryrpc_impl.h" | ||
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| namespace dronecore { | ||
| namespace backend { | ||
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| bool DroneCoreBackend::run(const int mavlink_listen_port) | ||
| { | ||
| _connection_initiator.start(_dc, 14540); | ||
| _connection_initiator.wait(); | ||
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| grpc::ServerBuilder builder; | ||
| setup_port(builder); | ||
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| CoreServiceImpl core(_dc); | ||
| builder.RegisterService(&core); | ||
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| Action action(&_dc.device()); | ||
| ActionServiceImpl actionService(action); | ||
| builder.RegisterService(&actionService); | ||
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| Mission mission(&_dc.device()); | ||
| MissionServiceImpl missionService(mission); | ||
| builder.RegisterService(&missionService); | ||
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| Telemetry telemetry(&_dc.device()); | ||
| TelemetryServiceImpl telemetryService(telemetry); | ||
| builder.RegisterService(&telemetryService); | ||
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| _server = builder.BuildAndStart(); | ||
| LogInfo() << "Server started"; | ||
| _server->Wait(); | ||
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| return true; | ||
| } | ||
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| 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; | ||
| } | ||
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| } // namespace backend | ||
| } //namespace dronecore | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| #include <grpc++/server.h> | ||
| #include <memory> | ||
| #include <mutex> | ||
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| #include "connection_initiator.h" | ||
| #include "dronecore.h" | ||
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| namespace dronecore { | ||
| namespace backend { | ||
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| class DroneCoreBackend | ||
| { | ||
| public: | ||
| DroneCoreBackend() {} | ||
| ~DroneCoreBackend() {} | ||
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| bool run(const int mavlink_listen_port = 14540); | ||
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| private: | ||
| bool run_server(); | ||
| void setup_port(grpc::ServerBuilder &builder); | ||
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| dronecore::DroneCore _dc; | ||
| dronecore::backend::ConnectionInitiator<dronecore::DroneCore> _connection_initiator; | ||
| std::unique_ptr<grpc::Server> _server; | ||
| }; | ||
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| } // namespace backend | ||
| } // namespace dronecore |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -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) | ||
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| 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() | ||
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| 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 | ||
| ) | ||
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| set(PB_COMPILED_SOURCE ${COMPONENT_NAME}/${COMPONENT_NAME}.pb.cc PARENT_SCOPE) | ||
| endfunction() | ||
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| 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 | ||
| ) | ||
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| set(GRPC_COMPILED_SOURCE ${COMPONENT_NAME}/${COMPONENT_NAME}.grpc.pb.cc PARENT_SCOPE) | ||
| endfunction() |
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Oh! No plugin list ?
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For now, it is hard-coded. We need to deliver a first version soon. So our first version will not really support plugins (i.e. the backend has all our plugins). Later, we'll upgrade for a more dynamic architecture.
Still, the frontend now should look like the plugins are loaded dynamically, so that it is transparent to the user when we update the backend :-).
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OK :-)