Automate generation of dronecore_server executable

Create a list of generated source files for all the plugins
mavlink · Nov 8, 2017 · 110df51 · 110df51
1 parent 8b20aa7
commit 110df51
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Showing 8 changed files with 48 additions and 53 deletions.
diff --git a/grpc/server/CMakeLists.txt b/grpc/server/CMakeLists.txt
@@ -52,17 +52,13 @@ foreach(plugin ${plugins_list})
 )
 endforeach()
 
-add_executable(dronecore_server
-    dronecore_server.cpp
-    dronecore.pb.cc # generated
-    dronecore.grpc.pb.cc # generated
-	action.pb.cc # generated
-    action.grpc.pb.cc # generated
-    mission.pb.cc # generated
-    mission.grpc.pb.cc # generated
-    telemetry.pb.cc # generated
-    telemetry.grpc.pb.cc # generated
-)
+set(plugins_src dronecore_server.cpp dronecore.pb.cc dronecore.grpc.pb.cc)
+foreach(plugin ${plugins_list})
+    list(APPEND plugins_src ${plugin}.pb.cc)
+    list(APPEND plugins_src ${plugin}.grpc.pb.cc)
+endforeach(plugin)
+
+add_executable(dronecore_server ${plugins_src})
 
 target_link_libraries(dronecore_server
     dronecore

diff --git a/grpc/server/dronecore_server.cpp b/grpc/server/dronecore_server.cpp
@@ -23,17 +23,16 @@ using grpc::ServerContext;
 using grpc::ServerReader;
 using grpc::ServerReaderWriter;
 using grpc::Status;
-using dronecorerpc::Empty;
 using dronecorerpc::DroneCoreRPC;
 
 using namespace dronecore;
 using namespace std::placeholders;
 
 static DroneCore dc;
 
-template<typename T> ::grpc::Service *createInstances(DroneCore* dc_obj) {return new T(dc_obj);}
+template<typename T> ::grpc::Service *createInstances(DroneCore *dc_obj) {return new T(dc_obj);}
 
-typedef std::map<std::string, ::grpc::Service*(*)(DroneCore* dc_obj)> map_type;
+typedef std::map<std::string, ::grpc::Service*(*)(DroneCore *dc_obj)> map_type;
 
 class DroneCoreRPCImpl final : public DroneCoreRPC::Service
 {

diff --git a/grpc/server/plugins/action/action.proto b/grpc/server/plugins/action/action.proto
@@ -1,16 +1,15 @@
 syntax = "proto3";
 
+import "google/protobuf/empty.proto";
+
 package dronecorerpc;
 
 service ActionRPC {
-    rpc Arm(ActionEmpty) returns(ActionResult) {}
-    rpc TakeOff(ActionEmpty) returns(ActionResult) {}
-    rpc Land(ActionEmpty) returns(ActionResult) {}
+    rpc Arm(google.protobuf.Empty) returns(ActionResult) {}
+    rpc TakeOff(google.protobuf.Empty) returns(ActionResult) {}
+    rpc Land(google.protobuf.Empty) returns(ActionResult) {}
 }
 
-// FIXME these different Empty types are ugly
-message ActionEmpty {}
-
 message ActionResult {
 
     enum Result {

diff --git a/grpc/server/plugins/action/actionrpc_impl.h b/grpc/server/plugins/action/actionrpc_impl.h
@@ -1,22 +1,23 @@
 #include "action.h"
 #include "action.grpc.pb.h"
+#include <google/protobuf/empty.pb.h>
 
 using grpc::Status;
 using grpc::ServerContext;
 using dronecorerpc::ActionRPC;
-using dronecorerpc::ActionEmpty;
+using dronecorerpc::Empty;
 
 using namespace dronecore;
 
 class ActionRPCImpl final : public ActionRPC::Service
 {
 public:
-	ActionRPCImpl(DroneCore* dc_obj)
-	{
-		dc = dc_obj;
-	}
-	
-    Status Arm(ServerContext *context, const ActionEmpty *request,
+    ActionRPCImpl(DroneCore *dc_obj)
+    {
+        dc = dc_obj;
+    }
+
+    Status Arm(ServerContext *context, const ::google::protobuf::Empty *request,
                dronecorerpc::ActionResult *response) override
     {
         const Action::Result action_result = dc->device().action().arm();
@@ -25,7 +26,7 @@ class ActionRPCImpl final : public ActionRPC::Service
         return Status::OK;
     }
 
-    Status TakeOff(ServerContext *context, const ActionEmpty *request,
+    Status TakeOff(ServerContext *context, const ::google::protobuf::Empty *request,
                    dronecorerpc::ActionResult *response) override
     {
         const Action::Result action_result = dc->device().action().takeoff();
@@ -34,7 +35,7 @@ class ActionRPCImpl final : public ActionRPC::Service
         return Status::OK;
     }
 
-    Status Land(ServerContext *context, const ActionEmpty *request,
+    Status Land(ServerContext *context, const ::google::protobuf::Empty *request,
                 dronecorerpc::ActionResult *response) override
     {
         const Action::Result action_result = dc->device().action().land();
@@ -44,5 +45,5 @@ class ActionRPCImpl final : public ActionRPC::Service
     }
 
 private:
-	DroneCore* dc;
+    DroneCore *dc;
 };
diff --git a/grpc/server/plugins/mission/mission.proto b/grpc/server/plugins/mission/mission.proto
@@ -1,14 +1,14 @@
 syntax = "proto3";
 
+import "google/protobuf/empty.proto";
+
 package dronecorerpc;
 
 service MissionRPC {
     rpc SendMission(Mission) returns(MissionResult) {}
-    rpc StartMission(MissionEmpty) returns(MissionResult) {}
+    rpc StartMission(google.protobuf.Empty) returns(MissionResult) {}
 }
 
-message MissionEmpty {}
-
 message MissionResult {
 
     enum Result {

diff --git a/grpc/server/plugins/mission/missionrpc_impl.h b/grpc/server/plugins/mission/missionrpc_impl.h
@@ -1,21 +1,21 @@
 #include "mission.h"
 #include "mission.grpc.pb.h"
+#include <google/protobuf/empty.pb.h>
 
 using grpc::Status;
 using grpc::ServerContext;
-using dronecorerpc::MissionEmpty;
 using dronecorerpc::MissionRPC;
 
 using namespace dronecore;
 
 class MissionRPCImpl final : public MissionRPC::Service
 {
 public:
-	MissionRPCImpl(DroneCore* dc_obj)
-	{
-		dc = dc_obj;
-	}
-	
+    MissionRPCImpl(DroneCore *dc_obj)
+    {
+        dc = dc_obj;
+    }
+
     Status SendMission(ServerContext *context, const dronecorerpc::Mission *mission,
                        dronecorerpc::MissionResult *response) override
     {
@@ -50,9 +50,9 @@ class MissionRPCImpl final : public MissionRPC::Service
         return Status::OK;
     }
 
-    Status StartMission(ServerContext *context, const MissionEmpty *request,
+    Status StartMission(ServerContext *context, const ::google::protobuf::Empty *request,
                         dronecorerpc::MissionResult *response) override
-    {   
+    {
         // TODO: there has to be a beter way than using std::future.
         auto prom = std::make_shared<std::promise<void>>();
         auto future_result = prom->get_future();
@@ -71,5 +71,5 @@ class MissionRPCImpl final : public MissionRPC::Service
     }
 
 private:
-	DroneCore* dc;
+    DroneCore *dc;
 };
diff --git a/grpc/server/plugins/telemetry/telemetry.proto b/grpc/server/plugins/telemetry/telemetry.proto
@@ -1,13 +1,13 @@
 syntax = "proto3";
 
+import "google/protobuf/empty.proto";
+
 package dronecorerpc;
 
 service TelemetryRPC {
-    rpc TelemetryPositionSubscription(TelemetryEmpty) returns(stream TelemetryPosition) {}
+    rpc TelemetryPositionSubscription(google.protobuf.Empty) returns(stream TelemetryPosition) {}
 }
 
-message TelemetryEmpty {}
-
 message TelemetryPosition {
     double latitude_deg = 1;
     double longitude_deg = 2;

diff --git a/grpc/server/plugins/telemetry/telemetryrpc_impl.h b/grpc/server/plugins/telemetry/telemetryrpc_impl.h
@@ -1,9 +1,9 @@
 #include "telemetry.h"
 #include "telemetry.grpc.pb.h"
+#include <google/protobuf/empty.pb.h>
 
 using grpc::Status;
 using grpc::ServerContext;
-using dronecorerpc::TelemetryEmpty;
 using dronecorerpc::TelemetryRPC;
 using grpc::ServerWriter;
 
@@ -12,12 +12,12 @@ using namespace dronecore;
 class TelemetryRPCImpl final : public TelemetryRPC::Service
 {
 public:
-	TelemetryRPCImpl(DroneCore* dc_obj) 
-	{
-		dc = dc_obj;
-	}
+    TelemetryRPCImpl(DroneCore *dc_obj)
+    {
+        dc = dc_obj;
+    }
 
-    Status TelemetryPositionSubscription(ServerContext *context, const TelemetryEmpty *request,
+    Status TelemetryPositionSubscription(ServerContext *context, const ::google::protobuf::Empty *request,
                                          ServerWriter<dronecorerpc::TelemetryPosition> *writer) override
     {
         dc->device().telemetry().position_async([&writer](Telemetry::Position position) {
@@ -35,6 +35,6 @@ class TelemetryRPCImpl final : public TelemetryRPC::Service
         return Status::OK;
     }
 
-private: 
-	DroneCore* dc;
+private:
+    DroneCore *dc;
 };