compAIR/compLIB
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Start on unix socket server on c++ side

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This commit is contained in:
Konstantin Lampalzer 2022-05-22 02:30:07 +02:00
parent 0bef6035ae
commit 1a033c8b03
8 changed files with 300 additions and 9 deletions
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57
server_v2/src/communication/MessageProcessor.cpp Normal file
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#include <spdlog/spdlog.h>
#include "include/communication/MessageProcessor.hpp"
#include "include/communication/MessageBuilder.hpp"
#include "include/Encoders.hpp"
#include "include/IRSensors.hpp"
#include "include/ClosedLoopMotorController.hpp"
using namespace CompLib;
google::protobuf::Message *MessageProcessor::process_message(const std::string &serializedMessage) {
CompLib::GenericRequest message;
message.ParseFromString(serializedMessage);
auto messageTypeName = message.header().message_type();
try {
// Encoder
if (messageTypeName == EncoderReadPositionsRequest::GetDescriptor()->full_name()) {
return MessageBuilder::encoder_read_positions_response(Encoders::getInstance().get_positions());
} else if (messageTypeName == EncoderReadVelocitiesRequest::GetDescriptor()->full_name()) {
return MessageBuilder::encoder_read_velocities_response(Encoders::getInstance().get_velocities_rpm());
}
// IR Sensors
if (messageTypeName == IRSensorsEnableRequest::GetDescriptor()->full_name()) {
IRSensors::enable();
return MessageBuilder::default_successful_generic_response();
} else if (messageTypeName == IRSensorsDisableRequest::GetDescriptor()->full_name()) {
IRSensors::disable();
return MessageBuilder::default_successful_generic_response();
} else if (messageTypeName == IRSensorsReadAllRequest::GetDescriptor()->full_name()) {
return MessageBuilder::ir_sensors_read_all_response(IRSensors::getInstance().read());
}
// Motors
if (messageTypeName == MotorsSetPowerRequest::GetDescriptor()->full_name()) {
MotorsSetPowerRequest request;
request.ParseFromString(serializedMessage);
ClosedLoopMotorController::getInstance().set_power(request.port(), request.power());
return MessageBuilder::default_successful_generic_response();
} else if (messageTypeName == MotorsSetSpeedRequest::GetDescriptor()->full_name()) {
MotorsSetSpeedRequest request;
request.ParseFromString(serializedMessage);
ClosedLoopMotorController::getInstance().set_speed(request.port(), request.speed());
return MessageBuilder::default_successful_generic_response();
}
} catch (const std::exception &ex) {
spdlog::error("Error when processing message with header {}: {}", messageTypeName, ex.what());
google::protobuf::Message *returnMessage = MessageBuilder::generic_response(false, ex.what());
return returnMessage;
}
spdlog::error("Message {} unknown!", messageTypeName);
google::protobuf::Message *returnMessage = MessageBuilder::generic_response(false, ERROR_MESSAGE_HEADER_UNKNOWN);
return returnMessage;
}