amukhamadiev
ece26e7b1f
Detailed:
As base used jsonrpccxx implementation paired with TCP socket
TCP socket updated to handle dynamic sized buffers
TCP communication protocol changed to serialized packet size after
which json string is presented
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
#include "cloud_point_rpc/config.hpp"
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#include "cloud_point_rpc/rpc_server.hpp"
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#include "cloud_point_rpc/service.hpp"
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#include "cloud_point_rpc/tcp_server.hpp"
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#include <glog/logging.h>
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#include <string>
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using json = nlohmann::json;
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int main(int argc, char *argv[]) {
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google::InitGoogleLogging(argv[0]);
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google::InstallFailureSignalHandler();
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FLAGS_alsologtostderr = 1;
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std::string config_path = "config.yaml";
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if (argc > 1) {
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config_path = argv[1];
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}
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LOG(INFO) << "Starting Cloud Point RPC Server (Test Mock)...";
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try {
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auto config = cloud_point_rpc::ConfigLoader::load(config_path);
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LOG(INFO) << "Loaded config from " << config_path;
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// Inject test data into service
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cloud_point_rpc::Service service(config.test_data);
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cloud_point_rpc::RpcServer rpc_server;
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rpc_server.register_method("get-intrinsic-params", [&](const json &) {
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return service.get_intrinsic_params();
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});
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rpc_server.register_method("get-extrinsic-params", [&](const json &) {
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return service.get_extrinsic_params();
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});
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rpc_server.register_method("get-cloud-point", [&](const json &) {
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return service.get_cloud_point();
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});
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cloud_point_rpc::TcpServer server(config.server.ip, config.server.port,
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[&](const std::string &request) {
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return rpc_server.process(
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request);
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});
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server.start();
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server.join();
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} catch (const std::exception &e) {
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LOG(ERROR) << "Fatal error: " << e.what();
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return 1;
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}
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return 0;
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}
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