backend: update action proto file

* remove 'using namespace' from header * create implementation file for actionrpc_impl * update action proto file and change actionrpc_impl accordingly Fixes #238.
mavlink · Mar 2, 2018 · 648c8f8 · 648c8f8
1 parent 4b3ba51
commit 648c8f8
Show file tree

Hide file tree

Showing 4 changed files with 62 additions and 33 deletions.
diff --git a/grpc/server/proto b/grpc/server/proto
diff --git a/grpc/server/src/CMakeLists.txt b/grpc/server/src/CMakeLists.txt
@@ -16,6 +16,7 @@ set(BACKEND_SOURCES
     backend_api.h
     backend_api.cpp
     backend.cpp
+    ${PLUGINS_DIR}/action/actionrpc_impl.cpp
     ${GRPC_COMPILED_SOURCES}
     ${PB_COMPILED_SOURCES}
 )

diff --git a/grpc/server/src/plugins/action/actionrpc_impl.cpp b/grpc/server/src/plugins/action/actionrpc_impl.cpp
@@ -0,0 +1,48 @@
+#include "actionrpc_impl.h"
+
+namespace rpc_action = dronecore::rpc::action;
+
+grpc::Status ActionServiceImpl::Arm(grpc::ServerContext *context,
+                                    const rpc_action::ArmRequest *request,
+                                    rpc_action::ArmResponse *response)
+{
+    const auto action_result = action.arm();
+
+    auto *rpc_action_result = new rpc_action::ActionResult();
+    rpc_action_result->set_result(static_cast<rpc_action::ActionResult::Result>(action_result));
+    rpc_action_result->set_result_str(dronecore::Action::result_str(action_result));
+
+    response->set_allocated_action_result(rpc_action_result);
+
+    return grpc::Status::OK;
+}
+
+grpc::Status ActionServiceImpl::Takeoff(grpc::ServerContext *context,
+                                        const rpc_action::TakeoffRequest *request,
+                                        rpc_action::TakeoffResponse *response)
+{
+    const auto action_result = action.takeoff();
+
+    auto *rpc_action_result = new rpc_action::ActionResult();
+    rpc_action_result->set_result(static_cast<rpc_action::ActionResult::Result>(action_result));
+    rpc_action_result->set_result_str(dronecore::Action::result_str(action_result));
+
+    response->set_allocated_action_result(rpc_action_result);
+
+    return grpc::Status::OK;
+}
+
+grpc::Status ActionServiceImpl::Land(grpc::ServerContext *context,
+                                     const rpc_action::LandRequest *request,
+                                     rpc_action::LandResponse *response)
+{
+    const auto action_result = action.land();
+
+    auto *rpc_action_result = new rpc_action::ActionResult();
+    rpc_action_result->set_result(static_cast<rpc_action::ActionResult::Result>(action_result));
+    rpc_action_result->set_result_str(dronecore::Action::result_str(action_result));
+
+    response->set_allocated_action_result(rpc_action_result);
+
+    return grpc::Status::OK;
+}
diff --git a/grpc/server/src/plugins/action/actionrpc_impl.h b/grpc/server/src/plugins/action/actionrpc_impl.h
@@ -1,44 +1,24 @@
 #include "action.h"
 #include "action/action.grpc.pb.h"
 
-using grpc::Status;
-using grpc::ServerContext;
-
-using namespace dronecore;
-
-class ActionServiceImpl final : public rpc::action::ActionService::Service
+class ActionServiceImpl final : public dronecore::rpc::action::ActionService::Service
 {
 public:
-    ActionServiceImpl(const Action &action)
+    ActionServiceImpl(const dronecore::Action &action)
         : action(action) {}
 
-    Status Arm(ServerContext *context, const rpc::action::ArmRequest *request,
-               rpc::action::ActionResult *response) override
-    {
-        const Action::Result action_result = action.arm();
-        response->set_result(static_cast<rpc::action::ActionResult::Result>(action_result));
-        response->set_result_str(Action::result_str(action_result));
-        return Status::OK;
-    }
+    grpc::Status Arm(grpc::ServerContext *context,
+                     const dronecore::rpc::action::ArmRequest *request,
+                     dronecore::rpc::action::ArmResponse *response) override;
 
-    Status TakeOff(ServerContext *context, const rpc::action::TakeOffRequest *request,
-                   rpc::action::ActionResult *response) override
-    {
-        const Action::Result action_result = action.takeoff();
-        response->set_result(static_cast<rpc::action::ActionResult::Result>(action_result));
-        response->set_result_str(Action::result_str(action_result));
-        return Status::OK;
-    }
+    grpc::Status Takeoff(grpc::ServerContext *context,
+                         const dronecore::rpc::action::TakeoffRequest *request,
+                         dronecore::rpc::action::TakeoffResponse *response) override;
 
-    Status Land(ServerContext *context, const rpc::action::LandRequest *request,
-                rpc::action::ActionResult *response) override
-    {
-        const Action::Result action_result = action.land();
-        response->set_result(static_cast<rpc::action::ActionResult::Result>(action_result));
-        response->set_result_str(Action::result_str(action_result));
-        return Status::OK;
-    }
+    grpc::Status Land(grpc::ServerContext *context,
+                      const dronecore::rpc::action::LandRequest *request,
+                      dronecore::rpc::action::LandResponse *response) override;
 
 private:
-    const Action &action;
+    const dronecore::Action &action;
 };