Merge pull request #10 from ichiro-its/feature/create-grpc-service

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

CMakeLists.txt

@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 3.5)
-
 project(ninshiki_interfaces)
 
 if(NOT CMAKE_C_STANDARD)
@@ -17,12 +16,73 @@ 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}")
+
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto)
+add_custom_command(
+  OUTPUT
+    "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.pb.cc"
+    "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.pb.h"
+    "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.grpc.pb.cc"
+    "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.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/ninshiki.proto
+  DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/proto/ninshiki.proto
+)
+
+add_library(ninshiki_proto SHARED
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.pb.cc"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.pb.h"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.grpc.pb.cc"
+  "${CMAKE_CURRENT_BINARY_DIR}/proto/ninshiki.grpc.pb.h"
+)
+
+target_compile_options(ninshiki_proto PRIVATE -fPIC)
+target_compile_features(ninshiki_proto PUBLIC cxx_std_17)
+
+target_link_libraries(ninshiki_proto PUBLIC
+  protobuf::libprotobuf
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/DetectedObject.msg"
   "msg/DetectedObjects.msg"
   "msg/Point.msg"
   "msg/Contour.msg"
-  "msg/Contours.msg")
+  "msg/Contours.msg"
+  "msg/ColorSetting.msg")
+
+install (
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+install (
+  TARGETS ninshiki_proto
+  EXPORT ninshiki_proto
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
 ament_export_dependencies(rosidl_default_runtime)
+
+ament_export_dependencies(rosidl_default_runtime protobuf gRPC)
+ament_export_targets(ninshiki_proto HAS_LIBRARY_TARGET)
 ament_package()

msg/ColorSetting.msg

@@ -0,0 +1,7 @@
+string name
+int32 min_hue
+int32 max_hue
+int32 min_saturation
+int32 max_saturation
+int32 min_value
+int32 max_value

proto/ninshiki.proto

@@ -0,0 +1,27 @@
+syntax = "proto3";
+
+package ninshiki_interfaces.proto;
+
+service Config {
+    rpc GetColorSetting (Empty) returns (ConfigColor) {}
+
+    rpc SaveColorSetting (ConfigColor) returns (Empty) {}
+
+    rpc SetColorSetting (ColorSetting) returns (Empty) {}
+}
+
+message Empty {}
+
+message ConfigColor {
+    string json_color = 1;
+}
+
+message ColorSetting {
+    string name = 1;
+    int32 min_hue = 2;
+    int32 max_hue = 3;
+    int32 min_saturation = 4;
+    int32 max_saturation = 5;
+    int32 min_value = 6;
+    int32 max_value = 7;
+}