Merge pull request #5 from ichiro-its/feature/create-grpc-service

 [Sprint 22 / PD-368] - [Feature] Create gRPC Service on Akushon ROS

CMakeLists.txt

@@ -16,11 +16,62 @@ 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}")
+
+find_package(gRPC CONFIG REQUIRED)
+message(STATUS "Using gRPC ${gRPC_VERSION}")
+
+# Generated sources
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto)
+add_custom_command(
+      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc" 
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h"
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc"
+            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h"
+      COMMAND $<TARGET_FILE:protobuf::protoc>
+      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
+        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
+        -I ${CMAKE_CURRENT_SOURCE_DIR}/proto
+        --plugin=protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>
+        ${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto
+      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto)
+
+add_library(akushon_proto
+    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc
+    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h
+    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc
+    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h)
+
+target_compile_options(akushon_proto PRIVATE -fPIC)
+target_compile_features(akushon_proto PUBLIC cxx_std_17)
+
+target_link_libraries(akushon_proto
+  protobuf::libprotobuf
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RunAction.msg"
   "msg/Status.msg"
   "srv/GetActions.srv"
   "srv/SaveActions.srv")
 
 ament_export_dependencies(rosidl_default_runtime)
+ament_export_targets(akushon_proto HAS_LIBRARY_TARGET)
+
+install (
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install (
+  TARGETS akushon_proto
+  EXPORT akushon_proto
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
 ament_package()

proto/akushon.proto

@@ -0,0 +1,43 @@
+syntax = "proto3";
+
+package akushon_interfaces.proto;
+
+service Config {
+  rpc GetConfig (Empty) returns (ConfigActions) {}
+
+  rpc SaveConfig (ConfigActions) returns (Empty) {}
+
+  rpc PublishSetJoints (SetJointsData) returns (Empty) {}
+
+  rpc RunAction (ConfigRunAction) returns (Empty) {}
+
+  rpc SetTorques (SetTorquesData) returns (Empty) {}
+
+  rpc SubscribeCurrentJoints (Empty) returns (CurrentJoints) {}
+}
+
+message Empty {}
+
+message ConfigActions {
+  string json_actions = 1;  
+}
+
+message SetJointsData {
+  int32 control_type = 1;
+  string joints_actions = 2;
+}
+
+message ConfigRunAction {
+  int32 control_type = 1;
+  string action_name = 2;
+  string json_action = 3;
+}
+
+message SetTorquesData {
+  string ids = 1;
+  bool torque_enable = 2;
+}
+
+message CurrentJoints {
+  string msg_joints = 1;
+}