[Enhancement] Create Load Config For Server

CMakeLists.txt

@@ -38,6 +38,7 @@ add_library(${PROJECT_NAME} SHARED
   "src/${PROJECT_NAME}/config/grpc/config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_get_capture_setting.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_get_image.cpp"
+  "src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_save_capture_setting.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_set_capture_setting.cpp"
   "src/${PROJECT_NAME}/config/grpc/call_data_record_image.cpp"

include/shisen_cpp/camera/provider/image_provider.hpp

@@ -21,14 +21,14 @@
 #ifndef SHISEN_CPP__CAMERA__PROVIDER__IMAGE_PROVIDER_HPP_
 #define SHISEN_CPP__CAMERA__PROVIDER__IMAGE_PROVIDER_HPP_
 
-#include <cv_bridge/cv_bridge.hpp>
-#include <opencv2/core.hpp>
-#include <opencv2/videoio.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <shisen_cpp/utility.hpp>
 #include <std_msgs/msg/header.hpp>
 
+#include <cv_bridge/cv_bridge.hpp>
 #include <memory>
+#include <opencv2/core.hpp>
+#include <opencv2/videoio.hpp>
 #include <string>
 
 namespace shisen_cpp::camera

include/shisen_cpp/config/grpc/call_data_load_config.hpp

@@ -0,0 +1,46 @@
+// Copyright (c) 2024 ICHIRO ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#ifndef SHISEN_CPP__CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__
+#define SHISEN_CPP__CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__
+
+#include <shisen_cpp/camera/node/camera_node.hpp>
+#include <shisen_cpp/config/grpc/call_data.hpp>
+#include <shisen_cpp/utility.hpp>
+
+namespace shisen_cpp
+{
+class CallDataLoadConfig
+: CallData<shisen_interfaces::proto::Empty, shisen_interfaces::proto::Empty>
+{
+public:
+  CallDataLoadConfig(
+    shisen_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+    const std::string & path, const std::shared_ptr<camera::CameraNode>& camera_node);
+
+protected:
+  void AddNextToCompletionQueue() override;
+  void WaitForRequest() override;
+  void HandleRequest() override;
+  std::shared_ptr<camera::CameraNode> camera_node_;
+};
+}  // namespace shisen_cpp
+
+#endif  // SHISEN_CPP__CONFIG__GRPC__CALL_DATA_LOAD_CONFIG_HPP__

include/shisen_cpp/viewer/consumer/image_consumer.hpp

@@ -21,13 +21,13 @@
 #ifndef SHISEN_CPP__VIEWER__CONSUMER__IMAGE_CONSUMER_HPP_
 #define SHISEN_CPP__VIEWER__CONSUMER__IMAGE_CONSUMER_HPP_
 
-#include <cv_bridge/cv_bridge.hpp>
-#include <opencv2/core.hpp>
-#include <opencv2/highgui.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <shisen_cpp/utility.hpp>
 
+#include <cv_bridge/cv_bridge.hpp>
 #include <memory>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
 #include <string>
 
 namespace shisen_cpp::viewer

src/shisen_cpp/config/grpc/call_data_get_image.cpp

@@ -18,12 +18,13 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 // THE SOFTWARE.
 
-#include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shisen_cpp/config/grpc/call_data_get_image.hpp>
 #include <shisen_interfaces/shisen.grpc.pb.h>
 #include <shisen_interfaces/shisen.pb.h>
 
+#include <opencv2/opencv.hpp>
+
 namespace shisen_cpp
 {
 CallDataGetImage::CallDataGetImage(

src/shisen_cpp/config/grpc/call_data_load_config.cpp

@@ -0,0 +1,59 @@
+// Copyright (c) 2024 ICHIRO ITS
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
+#include <rclcpp/rclcpp.hpp>
+#include <shisen_cpp/config/grpc/call_data_load_config.hpp>
+#include <shisen_cpp/config/utils/config.hpp>
+#include <shisen_interfaces/shisen.grpc.pb.h>
+#include <shisen_interfaces/shisen.pb.h>
+
+namespace shisen_cpp
+{
+CallDataLoadConfig::CallDataLoadConfig(
+  shisen_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
+  const std::string & path, const std::shared_ptr<camera::CameraNode>& camera_node)
+: CallData(service, cq, path), camera_node_(camera_node)
+{
+  Proceed();
+}
+
+void CallDataLoadConfig::AddNextToCompletionQueue()
+{
+  new CallDataLoadConfig(service_, cq_, path_, camera_node_);
+}
+
+void CallDataLoadConfig::WaitForRequest()
+{
+  service_->RequestLoadConfig(&ctx_, &request_, &responder_, cq_, cq_, this);
+}
+
+void CallDataLoadConfig::HandleRequest()
+{
+  try {
+    camera_node_->load_configuration(path_);
+
+    RCLCPP_INFO(
+      rclcpp::get_logger("Load config"), "config has been loaded!"
+    );
+  } catch (nlohmann::json::exception e) {
+    RCLCPP_ERROR(rclcpp::get_logger("Load config"), e.what());
+  }
+}
+}  // namespace shisen_cpp

src/shisen_cpp/config/grpc/config.cpp

@@ -22,6 +22,7 @@
 #include <shisen_cpp/config/grpc/call_data_base.hpp>
 #include <shisen_cpp/config/grpc/call_data_get_capture_setting.hpp>
 #include <shisen_cpp/config/grpc/call_data_get_image.hpp>
+#include <shisen_cpp/config/grpc/call_data_load_config.hpp>
 #include <shisen_cpp/config/grpc/call_data_save_capture_setting.hpp>
 #include <shisen_cpp/config/grpc/call_data_set_capture_setting.hpp>
 #include <shisen_cpp/config/grpc/call_data_record_image.hpp>
@@ -73,6 +74,7 @@ void ConfigGrpc::Run(const std::string & path, std::shared_ptr<camera::CameraNod
     new CallDataSaveCaptureSetting(&service_, cq_.get(), path);
     new CallDataSetCaptureSetting(&service_, cq_.get(), path, camera_node);
     new CallDataGetImage(&service_, cq_.get(), path, camera_node);
+    new CallDataLoadConfig(&service_, cq_.get(), path, camera_node);
     new CallDataRecordImage(&service_, cq_.get(), path, camera_node);
     void * tag;  // uniquely identifies a request.
     bool ok = true;