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yzhou-bcomyzhou-bcom
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Regenerate grpc files
1 parent 5fc77c1 commit fabcaed

9 files changed

+2740
-770
lines changed

‎gen/interfaces/IRelocalizationPipeline_grpcProxy.h

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@@ -28,6 +28,7 @@ class IRelocalizationPipeline_grpcProxy: public org::bcom::xpcf::ConfigurableBa
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SolAR::FrameworkReturnCode setCameraParameters(SolAR::datastructure::CameraParameters const& cameraParams) override;
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SolAR::FrameworkReturnCode getCameraParameters(SolAR::datastructure::CameraParameters& cameraParams) const override;
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SolAR::FrameworkReturnCode relocalizeProcessRequest(SRef<SolAR::datastructure::Image> const image, SolAR::datastructure::Transform3Df& pose, float_t& confidence, SolAR::datastructure::Transform3Df const& poseCoarse) override;
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SolAR::FrameworkReturnCode relocalizeProcessRequestViz(SRef<SolAR::datastructure::Image> const image, std::vector<SRef<SolAR::datastructure::CloudPoint>>& currPointCloud, SolAR::datastructure::Transform3Df& pose, float_t& confidence, SolAR::datastructure::Transform3Df const& poseCoarse) override;
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SolAR::FrameworkReturnCode relocalizeProcessRequest(SRef<SolAR::datastructure::Image> const image, SolAR::datastructure::Transform3Df& pose, float_t& confidence, std::vector<SolAR::datastructure::DetectedObject>& detectedObjects, SolAR::datastructure::Transform3Df const& poseCoarse) override;
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SolAR::FrameworkReturnCode getMapRequest(SRef<SolAR::datastructure::Map>& map) const override;
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‎gen/interfaces/IRelocalizationPipeline_grpcServer.h

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@@ -31,6 +31,7 @@ class IRelocalizationPipeline_grpcServer: public org::bcom::xpcf::ConfigurableB
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::grpc::Status setCameraParameters(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::setCameraParametersRequest* request, ::grpcIRelocalizationPipeline::setCameraParametersResponse* response) override;
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::grpc::Status getCameraParameters(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::getCameraParametersRequest* request, ::grpcIRelocalizationPipeline::getCameraParametersResponse* response) override;
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::grpc::Status relocalizeProcessRequest_grpc0(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc0Request* request, ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc0Response* response) override;
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::grpc::Status relocalizeProcessRequestViz(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::relocalizeProcessRequestVizRequest* request, ::grpcIRelocalizationPipeline::relocalizeProcessRequestVizResponse* response) override;
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::grpc::Status relocalizeProcessRequest_grpc1(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc1Request* request, ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc1Response* response) override;
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::grpc::Status getMapRequest(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::getMapRequestRequest* request, ::grpcIRelocalizationPipeline::getMapRequestResponse* response) override;
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‎gen/interfaces/grpcIRelocalizationPipelineService.grpc.pb.h

Lines changed: 179 additions & 22 deletions
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‎gen/interfaces/grpcIRelocalizationPipelineService.pb.h

Lines changed: 1403 additions & 519 deletions
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‎gen/proto/grpcIRelocalizationPipelineService.proto

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@@ -73,6 +73,24 @@ bytes confidence = 2;
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sint32 xpcfGrpcReturnValue = 3;
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}
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message relocalizeProcessRequestVizRequest
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{
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int32 grpcServerCompressionFormat = 1;
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bytes image = 2;
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bytes poseCoarse = 3;
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bytes currPointCloud = 4;
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bytes pose = 5;
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bytes confidence = 6;
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}
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message relocalizeProcessRequestVizResponse
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{
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bytes currPointCloud = 1;
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bytes pose = 2;
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bytes confidence = 3;
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sint32 xpcfGrpcReturnValue = 4;
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}
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message relocalizeProcessRequest_grpc1Request
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{
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int32 grpcServerCompressionFormat = 1;
@@ -110,6 +128,7 @@ rpc stop(stopRequest) returns(stopResponse) {}
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rpc setCameraParameters(setCameraParametersRequest) returns(setCameraParametersResponse) {}
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rpc getCameraParameters(getCameraParametersRequest) returns(getCameraParametersResponse) {}
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rpc relocalizeProcessRequest_grpc0(relocalizeProcessRequest_grpc0Request) returns(relocalizeProcessRequest_grpc0Response) {}
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rpc relocalizeProcessRequestViz(relocalizeProcessRequestVizRequest) returns(relocalizeProcessRequestVizResponse) {}
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rpc relocalizeProcessRequest_grpc1(relocalizeProcessRequest_grpc1Request) returns(relocalizeProcessRequest_grpc1Response) {}
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rpc getMapRequest(getMapRequestRequest) returns(getMapRequestResponse) {}
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}

‎gen/src/IRelocalizationPipeline_grpcProxy.cpp

Lines changed: 38 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ IRelocalizationPipeline_grpcProxy::IRelocalizationPipeline_grpcProxy():xpcf::Con
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declareInterface<SolAR::api::pipeline::IRelocalizationPipeline>(this);
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declareProperty("channelUrl",m_channelUrl);
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declareProperty("channelCredentials",m_channelCredentials);
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m_grpcProxyCompressionConfig.resize(9);
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m_grpcProxyCompressionConfig.resize(10);
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declarePropertySequence("grpc_compress_proxy", m_grpcProxyCompressionConfig);
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}
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@@ -230,6 +230,43 @@ SolAR::FrameworkReturnCode IRelocalizationPipeline_grpcProxy::relocalizeProcess
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}
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SolAR::FrameworkReturnCode IRelocalizationPipeline_grpcProxy::relocalizeProcessRequestViz(SRef<SolAR::datastructure::Image> const image, std::vector<SRef<SolAR::datastructure::CloudPoint>>& currPointCloud, SolAR::datastructure::Transform3Df& pose, float_t& confidence, SolAR::datastructure::Transform3Df const& poseCoarse)
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{
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::grpc::ClientContext context;
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::grpcIRelocalizationPipeline::relocalizeProcessRequestVizRequest reqIn;
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::grpcIRelocalizationPipeline::relocalizeProcessRequestVizResponse respOut;
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#ifndef DISABLE_GRPC_COMPRESSION
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xpcf::grpcCompressionInfos proxyCompressionInfo = xpcf::deduceClientCompressionInfo(m_serviceCompressionInfos, "relocalizeProcessRequestViz", m_methodCompressionInfosMap);
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xpcf::grpcCompressType serverCompressionType = xpcf::prepareClientCompressionContext(context, proxyCompressionInfo);
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reqIn.set_grpcservercompressionformat (static_cast<int32_t>(serverCompressionType));
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#endif
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reqIn.set_image(xpcf::serialize<SRef<SolAR::datastructure::Image>>(image));
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reqIn.set_posecoarse(xpcf::serialize<SolAR::datastructure::Transform3Df>(poseCoarse));
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reqIn.set_currpointcloud(xpcf::serialize<std::vector<SRef<SolAR::datastructure::CloudPoint>>>(currPointCloud));
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reqIn.set_pose(xpcf::serialize<SolAR::datastructure::Transform3Df>(pose));
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reqIn.set_confidence(xpcf::serialize<float_t>(confidence));
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#ifdef ENABLE_PROXY_TIMERS
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boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
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std::cout << "====> IRelocalizationPipeline_grpcProxy::relocalizeProcessRequestViz request sent at " << to_simple_string(start) << std::endl;
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#endif
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::grpc::Status grpcRemoteStatus = m_grpcStub->relocalizeProcessRequestViz(&context, reqIn, &respOut);
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#ifdef ENABLE_PROXY_TIMERS
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boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
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std::cout << "====> IRelocalizationPipeline_grpcProxy::relocalizeProcessRequestViz response received at " << to_simple_string(end) << std::endl;
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std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
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#endif
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if (!grpcRemoteStatus.ok()) {
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std::cout << "relocalizeProcessRequestViz rpc failed." << std::endl;
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throw xpcf::RemotingException("grpcIRelocalizationPipelineService","relocalizeProcessRequestViz",static_cast<uint32_t>(grpcRemoteStatus.error_code()));
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}
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currPointCloud = xpcf::deserialize<std::vector<SRef<SolAR::datastructure::CloudPoint>>>(respOut.currpointcloud());
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pose = xpcf::deserialize<SolAR::datastructure::Transform3Df>(respOut.pose());
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confidence = xpcf::deserialize<float_t>(respOut.confidence());
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return static_cast<SolAR::FrameworkReturnCode>(respOut.xpcfgrpcreturnvalue());
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}
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SolAR::FrameworkReturnCode IRelocalizationPipeline_grpcProxy::relocalizeProcessRequest(SRef<SolAR::datastructure::Image> const image, SolAR::datastructure::Transform3Df& pose, float_t& confidence, std::vector<SolAR::datastructure::DetectedObject>& detectedObjects, SolAR::datastructure::Transform3Df const& poseCoarse)
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{
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::grpc::ClientContext context;

‎gen/src/IRelocalizationPipeline_grpcServer.cpp

Lines changed: 31 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ IRelocalizationPipeline_grpcServer::IRelocalizationPipeline_grpcServer():xpcf::C
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{
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declareInterface<xpcf::IGrpcService>(this);
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declareInjectable<SolAR::api::pipeline::IRelocalizationPipeline>(m_grpcService.m_xpcfComponent);
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m_grpcServerCompressionConfig.resize(9);
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m_grpcServerCompressionConfig.resize(10);
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declarePropertySequence("grpc_compress_server", m_grpcServerCompressionConfig);
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}
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@@ -181,6 +181,36 @@ ::grpc::Status IRelocalizationPipeline_grpcServer::grpcIRelocalizationPipelineSe
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}
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::grpc::Status IRelocalizationPipeline_grpcServer::grpcIRelocalizationPipelineServiceImpl::relocalizeProcessRequestViz(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::relocalizeProcessRequestVizRequest* request, ::grpcIRelocalizationPipeline::relocalizeProcessRequestVizResponse* response)
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{
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#ifndef DISABLE_GRPC_COMPRESSION
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xpcf::grpcCompressType askedCompressionType = static_cast<xpcf::grpcCompressType>(request->grpcservercompressionformat());
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xpcf::grpcServerCompressionInfos serverCompressInfo = xpcf::deduceServerCompressionType(askedCompressionType, m_serviceCompressionInfos, "relocalizeProcessRequestViz", m_methodCompressionInfosMap);
189+
xpcf::prepareServerCompressionContext(context, serverCompressInfo);
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#endif
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#ifdef ENABLE_SERVER_TIMERS
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boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
193+
std::cout << "====> IRelocalizationPipeline_grpcServer::relocalizeProcessRequestViz request received at " << to_simple_string(start) << std::endl;
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#endif
195+
SRef<SolAR::datastructure::Image> image = xpcf::deserialize<SRef<SolAR::datastructure::Image>>(request->image());
196+
std::vector<SRef<SolAR::datastructure::CloudPoint>> currPointCloud = xpcf::deserialize<std::vector<SRef<SolAR::datastructure::CloudPoint>>>(request->currpointcloud());
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SolAR::datastructure::Transform3Df pose = xpcf::deserialize<SolAR::datastructure::Transform3Df>(request->pose());
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float_t confidence = xpcf::deserialize<float_t>(request->confidence());
199+
SolAR::datastructure::Transform3Df poseCoarse = xpcf::deserialize<SolAR::datastructure::Transform3Df>(request->posecoarse());
200+
SolAR::FrameworkReturnCode returnValue = m_xpcfComponent->relocalizeProcessRequestViz(image, currPointCloud, pose, confidence, poseCoarse);
201+
response->set_currpointcloud(xpcf::serialize<std::vector<SRef<SolAR::datastructure::CloudPoint>>>(currPointCloud));
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response->set_pose(xpcf::serialize<SolAR::datastructure::Transform3Df>(pose));
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response->set_confidence(xpcf::serialize<float_t>(confidence));
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response->set_xpcfgrpcreturnvalue(static_cast<int32_t>(returnValue));
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#ifdef ENABLE_SERVER_TIMERS
206+
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
207+
std::cout << "====> IRelocalizationPipeline_grpcServer::relocalizeProcessRequestViz response sent at " << to_simple_string(end) << std::endl;
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std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
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#endif
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return ::grpc::Status::OK;
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}
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::grpc::Status IRelocalizationPipeline_grpcServer::grpcIRelocalizationPipelineServiceImpl::relocalizeProcessRequest_grpc1(::grpc::ServerContext* context, const ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc1Request* request, ::grpcIRelocalizationPipeline::relocalizeProcessRequest_grpc1Response* response)
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{
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#ifndef DISABLE_GRPC_COMPRESSION

‎gen/src/grpcIRelocalizationPipelineService.grpc.pb.cc

Lines changed: 45 additions & 3 deletions
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