master.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
 *
 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 *  Authors: Christoph Rösmann
 *********************************************************************/
 
#ifndef SRC_MASTER_INCLUDE_CORBO_MASTER_MASTER_H_
#define SRC_MASTER_INCLUDE_CORBO_MASTER_MASTER_H_
 
#include <corbo-communication/messages/corbo_parameters.pb.h>
#include <corbo-communication/services/master_service.grpc.pb.h>
#include <corbo-controllers/corbo_controllers.h>
#include <corbo-core/console.h>
#include <corbo-numerics/corbo_numerics.h>
#include <corbo-observers/corbo_observers.h>
#include <corbo-optimal-control/corbo_optimal_control.h>
#include <corbo-optimization/corbo_optimization.h>
#include <corbo-plants/corbo_plants.h>
#include <corbo-systems/corbo_systems.h>
#include <corbo-tasks/corbo_tasks.h>
 
#include <grpc++/grpc++.h>
 
#include <iostream>
#include <memory>
#include <string>
 
namespace corbo {
 
class Master : public services::MasterService::Service
{
 public:
    Master() {}
 
    void start(const std::string& server_address, bool blocking = true);
 
    void setDefault();
 
    bool loadFromFile(const std::string& filename);
 
    bool setcorboMessage(const corbo::messages::corboParameters& msg, std::stringstream* issues);
 
    bool setPlant(const messages::Plant& msg, std::stringstream* issues = nullptr);
    bool setController(const corbo::messages::Controller& msg, std::stringstream* issues = nullptr);
    bool setObserver(const corbo::messages::Observer& msg, std::stringstream* issues = nullptr);
    bool setTask(const corbo::messages::Task& msg, std::stringstream* issues = nullptr);
 
 protected:
    grpc::Status setPlant(grpc::ServerContext* context, const corbo::messages::Plant* request, corbo::messages::Status* response) override;
    grpc::Status getPlant(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Plant* response) override;
 
    grpc::Status setController(grpc::ServerContext* context, const corbo::messages::Controller* request, corbo::messages::Status* response) override;
    grpc::Status getController(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Controller* response) override;
 
    grpc::Status setObserver(grpc::ServerContext* context, const corbo::messages::Observer* request, corbo::messages::Status* response) override;
    grpc::Status getObserver(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Observer* response) override;
 
    grpc::Status setTask(grpc::ServerContext* context, const corbo::messages::Task* request, corbo::messages::Status* response) override;
    grpc::Status getTask(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Task* response) override;
 
    grpc::Status getAvailableSignals(grpc::ServerContext* context, const corbo::messages::Void* request,
                                     grpc::ServerWriter<corbo::messages::Signal>* response_stream) override;
 
    grpc::Status performTask(grpc::ServerContext* context, const corbo::messages::Void* request,
                             grpc::ServerWriter<corbo::messages::Signal>* response_stream) override;
 
    grpc::Status verifyConfig(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Status* response) override;
 
    grpc::Status ping(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Status* response) override;
    grpc::Status stop(grpc::ServerContext* context, const corbo::messages::Void* request, corbo::messages::Void* response) override;
 
 private:
    Environment _environment;
    TaskInterface::Ptr _task;
 
    std::unique_ptr<grpc::Server> _server;
};
 
}  // namespace corbo
 
#endif  // SRC_MASTER_INCLUDE_CORBO_MASTER_MASTER_H_