obu_interface_grpc_impl.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <condition_variable>
#include <memory>
#include <mutex>
#include <thread>
 
#include <grpc++/grpc++.h>
 
#include "modules/v2x/v2x_proxy/obu_interface/grpc_interface/grpc_client.h"
#include "modules/v2x/v2x_proxy/obu_interface/grpc_interface/grpc_server.h"
#include "modules/v2x/v2x_proxy/obu_interface/obu_interface_abstract_class.h"
 
namespace apollo {
namespace v2x {
 
class ObuInterFaceGrpcImpl : public ObuInterFaceBase {
 public:
  ObuInterFaceGrpcImpl();
  ~ObuInterFaceGrpcImpl();
 
  /* function that init grpc server
   */
  bool InitialServer() override;
 
  /* function that init grpc client
   */
  bool InitialClient() override;
 
  /* function that get v2x traffic light through grpc
  @param output return latest v2x traffic light
  */
  void GetV2xTrafficLightFromObu(
      std::shared_ptr<::apollo::v2x::obu::ObuTrafficLight> *msg) override;
 
  void GetV2xObstaclesFromObu(
      std::shared_ptr<::apollo::v2x::V2XObstacles> *msg) override;
 
  void GetV2xRsiFromObu(
      std::shared_ptr<::apollo::v2x::obu::ObuRsi> *msg) override;
 
  /* function that send car status through grpc
  @param input send car status msg to grpc
  */
  void SendCarStatusToObu(
      const std::shared_ptr<::apollo::v2x::CarStatus> &msg) override;
 
  /* function that return init flag
   */
  bool InitFlag() { return init_succ_; }
 
 private:
  /* thread function that run server
   */
  void ThreadRunServer();
 
  std::shared_ptr<GrpcClientImpl> grpc_client_;
  std::unique_ptr<GrpcServerImpl> grpc_server_;
  std::unique_ptr<grpc::Server> server_;
 
  bool cli_init_ = false;
  bool srv_init_ = false;
 
  bool init_succ_ = false;
  bool exit_flag_ = false;
  std::unique_ptr<std::thread> thread_grpc_;
  std::mutex mutex_;
  std::condition_variable condition_;
};
 
}  // namespace v2x
}  // namespace apollo