269 update core proto

backend/src/backend.cpp

@@ -11,7 +11,7 @@
 #include "action/action.h"
 #include "action/action_service_impl.h"
 #include "connection_initiator.h"
-#include "core/corerpc_impl.h"
+#include "core/core_service_impl.h"
 #include "dronecore.h"
 #include "log.h"
 #include "mission/mission.h"
@@ -35,22 +35,20 @@ class DroneCoreBackend::Impl
         grpc::ServerBuilder builder;
         setup_port(builder);
 
-        CoreServiceImpl core(_dc);
+        CoreServiceImpl<> core(_dc);
         builder.RegisterService(&core);
 
         Action action(_dc.system());
-        ActionServiceImpl<dronecore::Action> actionService(action);
-        builder.RegisterService(&actionService);
+        ActionServiceImpl<> action_service(action);
+        builder.RegisterService(&action_service);
 
         Mission mission(_dc.system());
-        MissionServiceImpl<dronecore::Mission> missionService(mission);
-
-        builder.RegisterService(&missionService);
+        MissionServiceImpl<> mission_service(mission);
+        builder.RegisterService(&mission_service);
 
         Telemetry telemetry(_dc.system());
-        TelemetryServiceImpl<> telemetryService(telemetry);
-
-        builder.RegisterService(&telemetryService);
+        TelemetryServiceImpl<> telemetry_service(telemetry);
+        builder.RegisterService(&telemetry_service);
 
         _server = builder.BuildAndStart();
         LogInfo() << "Server started";

backend/src/core/core_service_impl.h

@@ -0,0 +1,75 @@
+#include <future>
+#include <string>
+
+#include "core/core.grpc.pb.h"
+#include "dronecore.h"
+
+namespace dronecore {
+namespace backend {
+
+template <typename DroneCore = DroneCore>
+class CoreServiceImpl final: public dronecore::rpc::core::CoreService::Service
+{
+public:
+    CoreServiceImpl(DroneCore &dc)
+        : _dc(dc),
+          _stop_promise(std::promise<void>()),
+          _stop_future(_stop_promise.get_future()) {}
+
+    grpc::Status SubscribeDiscover(grpc::ServerContext * /* context */,
+                                   const rpc::core::SubscribeDiscoverRequest * /* request */,
+                                   grpc::ServerWriter<rpc::core::DiscoverResponse> *writer) override
+    {
+        _dc.register_on_discover([&writer](const uint64_t uuid) {
+            dronecore::rpc::core::DiscoverResponse rpc_discover_response;
+            rpc_discover_response.set_uuid(uuid);
+            writer->Write(rpc_discover_response);
+        });
+
+        _stop_future.wait();
+        return grpc::Status::OK;
+    }
+
+    grpc::Status SubscribeTimeout(grpc::ServerContext * /* context */,
+                                  const rpc::core::SubscribeTimeoutRequest * /* request */,
+                                  grpc::ServerWriter<rpc::core::TimeoutResponse> *writer) override
+    {
+        _dc.register_on_timeout([&writer](const uint64_t /* uuid */) {
+            dronecore::rpc::core::TimeoutResponse rpc_timeout_response;
+            writer->Write(rpc_timeout_response);
+        });
+
+        _stop_future.wait();
+        return grpc::Status::OK;
+    }
+
+    // For now, the running plugins are hardcoded and we assume they are always started by the backend.
+    grpc::Status ListRunningPlugins(grpc::ServerContext * /* context */,
+                                    const rpc::core::ListRunningPluginsRequest * /* request */,
+                                    dronecore::rpc::core::ListRunningPluginsResponse *response) override
+    {
+        std::string plugin_names[3] = { "action", "mission", "telemetry" };
+
+        for (const auto plugin_name : plugin_names) {
+            auto plugin_info = response->add_plugin_info();
+            plugin_info->set_name(plugin_name);
+            plugin_info->set_address("localhost");
+            plugin_info->set_port(50051);
+        }
+
+        return grpc::Status::OK;
+    }
+
+    void stop()
+    {
+        _stop_promise.set_value();
+    }
+
+private:
+    DroneCore &_dc;
+    std::promise<void> _stop_promise;
+    std::future<void> _stop_future;
+};
+
+} // namespace backend
+} // namespace dronecore

backend/src/plugins/action/action_service_impl.h

@@ -4,7 +4,7 @@
 namespace dronecore {
 namespace backend {
 
-template <typename Action>
+template <typename Action = Action>
 class ActionServiceImpl final : public dronecore::rpc::action::ActionService::Service
 {
 public:

backend/src/plugins/mission/mission_service_impl.h

@@ -1,11 +1,12 @@
 #include <future>
 
+#include "mission/mission.h"
 #include "mission/mission.grpc.pb.h"
 
 namespace dronecore {
 namespace backend {
 
-template <typename Mission>
+template <typename Mission = Mission>
 class MissionServiceImpl final : public dronecore::rpc::mission::MissionService::Service
 {
 public:

backend/test/CMakeLists.txt

@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.1)
 add_executable(unit_tests_backend
     action_service_impl_test.cpp
     connection_initiator_test.cpp
+    core_service_impl_test.cpp
     mission_service_impl_test.cpp
     telemetry_service_impl_test.cpp
 )
@@ -15,6 +16,7 @@ target_include_directories(unit_tests_backend
     ${CMAKE_CURRENT_SOURCE_DIR}/../src/plugins
     ${CMAKE_SOURCE_DIR}/plugins
     ${CMAKE_BINARY_DIR}/backend/src
+    ${CMAKE_SOURCE_DIR}
 )
 
 target_link_libraries(unit_tests_backend