225 lines
8.5 KiB
C++
225 lines
8.5 KiB
C++
//
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// Created by xtkuang on 2025/5/6.
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//
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#include <unistd.h>
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#include <limits.h>
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#include <libgen.h>
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#include <iostream>
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#include <glog/logging.h>
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#include "device_manager/device_manager.h"
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#include "monitor/monitor_manager.h"
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#include "service/grpc_camera_service.h"
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#include "service/grpc_system_service.h"
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#include "service/grpc_speaker_service.h"
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#include "service/grpc_microphone_service.h"
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#include "service/grpc_dexhand_service.h"
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#include "utils/base/logger.h"
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#include "service/grpc_head_service.h"
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#include "service/grpc_humanoid_robot_service.h"
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#include "service/grpc_hlc_service.h"
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#include "http/httpclient.h"
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#include "json/json.h"
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#include <grpcpp/ext/proto_server_reflection_plugin.h>
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void runServer(const XmlNode &cfg){
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using namespace cmvr::device;
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using namespace cmvr::service;
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using namespace cmvr::monitor;
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if (!cfg.hasChild("DeviceManager")){
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LOG(ERROR) << "Device Manager node not found";
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return;
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}
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try {
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// 🔥 关键！启用反射
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grpc::reflection::InitProtoReflectionServerBuilderPlugin();
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auto dmgr_cfg = cfg.getChild("DeviceManager");
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DeviceManager::getInstance(dmgr_cfg);
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auto mmgr_cfg = cfg.getChild("MonitorManager");
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MonitorManager::getInstance(mmgr_cfg);
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auto grpc_cfg = cfg.getChild("gRPCServer");
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string port = grpc_cfg.getAttrDefault("port", "50051");
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std::string address("0.0.0.0:" + port);
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auto camera_service = gRPCCameraServiceImpl();
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auto system_service = gRPCSystemServiceImpl();
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auto speaker_service = gRPCSpeakerServiceImpl();
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auto microphone_service = gRPCMicroPhoneServiceImpl();
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auto dexhand_service = gRPCDexHandServiceImpl();
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auto biohand_service = gRPCMBioHeadServiceImpl();
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auto humanoid_robot_service = gRPCHumanoidRobotServiceImpl();
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auto hlc_service = gRPCHlcServiceImpl();
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grpc::ServerBuilder builder;
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builder.AddListeningPort(address, grpc::InsecureServerCredentials());
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builder.RegisterService(&camera_service);
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builder.RegisterService(&system_service);
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builder.RegisterService(&speaker_service);
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builder.RegisterService(µphone_service);
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builder.RegisterService(&dexhand_service);
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builder.RegisterService(&biohand_service);
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builder.RegisterService(&humanoid_robot_service);
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builder.RegisterService(&hlc_service);
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// 🔥 关键！启用反射
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//grpc::reflection::InitProtoReflectionServerBuilderPlugin();
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const std::unique_ptr server(builder.BuildAndStart());
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std::cout << "Server listening on " << address << std::endl;
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server->Wait();
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}
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catch (std:: exception &e) {
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LOG(FATAL) << e.what();
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}
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}
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int test_httpclient() {
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try {
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std::cout << "HTTP Client Example" << std::endl;
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std::cout << "===================" << std::endl;
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// 创建HTTP客户端
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cmvr::HttpClient client;
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// 设置基础URL - 使用Reqres.in替代JSONPlaceholder
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client.setBaseUrl("https://reqres.in/api");
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// 设置超时时间为15秒（增加超时时间以应对网络波动）
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client.setTimeout(15000);
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// 示例1: GET请求 - 获取用户列表
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std::cout << "\n=== Example 1: GET Request (List Users) ===" << std::endl;
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cmvr::HttpResponse response = client.get("/users?page=1");
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std::cout << "Status: " << response.statusCode << " " << response.statusText << std::endl;
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std::cout << "Content-Type: " << response.headers["Content-Type"] << std::endl;
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std::cout << "Response Body: " << std::endl << response.body << std::endl;
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// 示例2: POST JSON请求 - 创建用户
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std::cout << "\n=== Example 2: POST JSON Request (Create User) ===" << std::endl;
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// 使用JsonCpp创建JSON数据
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Json::Value postData;
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postData["name"] = "John Doe";
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postData["job"] = "Software Engineer";
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// 将JSON转换为字符串
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Json::StreamWriterBuilder writer;
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std::string jsonString = Json::writeString(writer, postData);
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response = client.postJson("/users", {}, jsonString);
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std::cout << "Status: " << response.statusCode << " " << response.statusText << std::endl;
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std::cout << "Content-Type: " << response.headers["Content-Type"] << std::endl;
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std::cout << "Response Body: " << std::endl << response.body << std::endl;
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// 示例3: 解析JSON响应 - 获取单个用户
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std::cout << "\n=== Example 3: Parsing JSON Response (Single User) ===" << std::endl;
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response = client.get("/users/2");
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if (response.statusCode == 200) {
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// 使用JsonCpp解析JSON字符串
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Json::Value user;
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Json::CharReaderBuilder reader;
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std::string errors;
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std::istringstream stream(response.body);
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bool parsingSuccessful = Json::parseFromStream(reader, stream, &user, &errors);
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if (parsingSuccessful) {
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Json::Value data = user["data"];
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std::cout << "User ID: " << data["id"].asInt() << std::endl;
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std::cout << "Email: " << data["email"].asString() << std::endl;
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std::cout << "First Name: " << data["first_name"].asString() << std::endl;
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std::cout << "Last Name: " << data["last_name"].asString() << std::endl;
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} else {
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std::cerr << "Failed to parse JSON: " << errors << std::endl;
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}
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}
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// 示例4: PUT请求 - 更新用户
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std::cout << "\n=== Example 4: PUT Request (Update User) ===" << std::endl;
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Json::Value updateData;
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updateData["name"] = "Jane Doe";
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updateData["job"] = "Senior Software Engineer";
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std::string updateJson = Json::writeString(writer, updateData);
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response = client.postJson("/users/2", {}, updateJson); // Reqres.in使用POST处理PUT请求
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std::cout << "Status: " << response.statusCode << " " << response.statusText << std::endl;
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std::cout << "Content-Type: " << response.headers["Content-Type"] << std::endl;
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std::cout << "Response Body: " << std::endl << response.body << std::endl;
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// 示例5: 测试HttpBin.org - 获取请求头信息
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std::cout << "\n=== Example 5: HttpBin.org (Request Headers) ===" << std::endl;
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// 切换到HttpBin.org
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client.setBaseUrl("https://httpbin.org");
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// 添加自定义请求头
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client.clearHeaders();
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client.addHeader("X-Test-Header", "Hello from HttpClient");
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client.addHeader("Accept", "application/json");
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response = client.get("/headers");
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std::cout << "Status: " << response.statusCode << " " << response.statusText << std::endl;
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std::cout << "Content-Type: " << response.headers["Content-Type"] << std::endl;
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std::cout << "Response Body: " << std::endl << response.body << std::endl;
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// 示例6: 测试超时与错误处理
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std::cout << "\n=== Example 6: Timeout & Error Handling ===" << std::endl;
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// 设置较短的超时时间
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client.setTimeout(2000); // 2秒超时
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try {
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// 请求一个会延迟响应的端点
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response = client.get("/delay/5"); // 服务器会延迟5秒响应
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std::cout << "Status: " << response.statusCode << " " << response.statusText << std::endl;
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} catch (const cmvr::HttpException& e) {
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std::cout << "Error (Expected Timeout): " << e.what() << std::endl;
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}
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// 恢复正常超时
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client.setTimeout(15000);
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} catch (const cmvr::HttpException& e) {
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std::cerr << "HTTP Error: " << e.what() << std::endl;
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return 1;
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} catch (const std::exception& e) {
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std::cerr << "Error: " << e.what() << std::endl;
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return 1;
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}
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return 0;
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}
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int main(int argc, char* argv[]) {
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std::string config_path;
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if(argc == 1) {
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char exe_path[PATH_MAX] = {0};
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ssize_t count = readlink("/proc/self/exe", exe_path, PATH_MAX);
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if (count == -1) {
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std::cerr << "Failed to read /proc/self/exe" << std::endl;
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return 1;
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}
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std::string exe_dir = dirname(exe_path);
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config_path = exe_dir + "/../config/cabin_robot.xml";
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std::cout << "Using default config path: " << config_path << std::endl;
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}
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else if (argc == 2){
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config_path = argv[1];
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}
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const XmlNode config(config_path);
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initLogger(config.getChild("Logger"));
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runServer(config);
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google::ShutdownGoogleLogging();
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return 0;
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}
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