backend: make a pImpl out of DroneCoreBackend

mavlink · Mar 2, 2018 · 8e96747 · 8e96747
1 parent 45a3c2a
commit 8e96747
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Showing 3 changed files with 57 additions and 40 deletions.
diff --git a/grpc/server/src/backend.cpp b/grpc/server/src/backend.cpp
@@ -5,52 +5,74 @@
 #include <grpc++/server_builder.h>
 #include <grpc++/server_context.h>
 #include <grpc++/security/server_credentials.h>
+#include <mutex>
 
 #include "action/actionrpc_impl.h"
+#include "connection_initiator.h"
 #include "core/corerpc_impl.h"
+#include "dronecore.h"
 #include "log.h"
 #include "mission/missionrpc_impl.h"
 #include "telemetry/telemetryrpc_impl.h"
 
 namespace dronecore {
 namespace backend {
 
-bool DroneCoreBackend::run(const int mavlink_listen_port)
+class DroneCoreBackend::Impl
 {
-    _connection_initiator.start(_dc, 14540);
-    _connection_initiator.wait();
+public:
+    Impl() {}
+    ~Impl() {}
 
-    grpc::ServerBuilder builder;
-    setup_port(builder);
+    bool run(const int mavlink_listen_port)
+    {
+        _connection_initiator.start(_dc, 14540);
+        _connection_initiator.wait();
 
-    CoreServiceImpl core(_dc);
-    builder.RegisterService(&core);
+        grpc::ServerBuilder builder;
+        setup_port(builder);
 
-    Action action(&_dc.device());
-    ActionServiceImpl actionService(action);
-    builder.RegisterService(&actionService);
+        CoreServiceImpl core(_dc);
+        builder.RegisterService(&core);
 
-    Mission mission(&_dc.device());
-    MissionServiceImpl missionService(mission);
-    builder.RegisterService(&missionService);
+        Action action(&_dc.device());
+        ActionServiceImpl actionService(action);
+        builder.RegisterService(&actionService);
 
-    Telemetry telemetry(&_dc.device());
-    TelemetryServiceImpl telemetryService(telemetry);
-    builder.RegisterService(&telemetryService);
+        Mission mission(&_dc.device());
+        MissionServiceImpl missionService(mission);
+        builder.RegisterService(&missionService);
 
-    _server = builder.BuildAndStart();
-    LogInfo() << "Server started";
-    _server->Wait();
+        Telemetry telemetry(&_dc.device());
+        TelemetryServiceImpl telemetryService(telemetry);
+        builder.RegisterService(&telemetryService);
 
-    return true;
-}
+        _server = builder.BuildAndStart();
+        LogInfo() << "Server started";
+        _server->Wait();
 
-void DroneCoreBackend::setup_port(grpc::ServerBuilder &builder)
-{
-    std::string server_address("0.0.0.0:50051");
-    builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
-    LogInfo() << "Server set to listen on " << server_address;
-}
+        return true;
+    }
+
+private:
+    void setup_port(grpc::ServerBuilder &builder)
+    {
+        std::string server_address("0.0.0.0:50051");
+        builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
+        LogInfo() << "Server set to listen on " << server_address;
+    }
+
+    dronecore::DroneCore _dc;
+    dronecore::backend::ConnectionInitiator<dronecore::DroneCore> _connection_initiator;
+    std::unique_ptr<grpc::Server> server;
+};
+
+DroneCoreBackend::DroneCoreBackend() : _impl(new Impl()) {}
+DroneCoreBackend::~DroneCoreBackend() = default;
+DroneCoreBackend::DroneCoreBackend(DroneCoreBackend &&) noexcept = default;
+DroneCoreBackend &DroneCoreBackend::operator=(DroneCoreBackend &&) noexcept = default;
+
+bool DroneCoreBackend::run(const int mavlink_listen_port) { return _impl->run(mavlink_listen_port); }
 
 } // namespace backend
 } //namespace dronecore
diff --git a/grpc/server/src/backend.h b/grpc/server/src/backend.h
@@ -1,28 +1,22 @@
-#include <grpc++/server.h>
 #include <memory>
-#include <mutex>
-
-#include "connection_initiator.h"
-#include "dronecore.h"
 
 namespace dronecore {
 namespace backend {
 
 class DroneCoreBackend
 {
 public:
-    DroneCoreBackend() {}
-    ~DroneCoreBackend() {}
+    DroneCoreBackend();
+    ~DroneCoreBackend();
+
+    DroneCoreBackend(DroneCoreBackend &&op) noexcept;
+    DroneCoreBackend &operator=(DroneCoreBackend &&op) noexcept;
 
     bool run(const int mavlink_listen_port = 14540);
 
 private:
-    bool run_server();
-    void setup_port(grpc::ServerBuilder &builder);
-
-    dronecore::DroneCore _dc;
-    dronecore::backend::ConnectionInitiator<dronecore::DroneCore> _connection_initiator;
-    std::unique_ptr<grpc::Server> _server;
+    class Impl;
+    std::unique_ptr<Impl> _impl;
 };
 
 } // namespace backend

diff --git a/grpc/server/src/core/corerpc_impl.h b/grpc/server/src/core/corerpc_impl.h
@@ -1,4 +1,5 @@
 #include "core/core.grpc.pb.h"
+#include "dronecore.h"
 
 using grpc::Status;
 using grpc::ServerContext;