Merge pull request #17 from fergusL/grpc-stuff

gRPC c++ driver/python server

README.rst

@@ -1,12 +1,98 @@
 Huntsman Telescope dome control
--------------------------------
+===============================
 
 .. image:: http://img.shields.io/badge/powered%20by-AstroPy-orange.svg?style=flat
     :target: http://www.astropy.org
     :alt: Powered by Astropy Badge
 
 Code to run the Huntsman Telescope dome control hardware
 
+Overview
+--------
+
+The Huntsman Telescope dome control software has two components,
+one written in c++ the other in python.
+
+The C++ component is a X2Dome driver that interfaces with TheSkyX
+and passes commands through to the python component. This is done
+using the `gRPC <https://grpc.io/>`_ framework, allowing the c++
+component to pass infomation to the python component.
+
+The python component is implemented on a raspberry pi that controls
+the dome rotation motor. It controls the activation of the motor
+and tracks the dome position using an encoder. It returns infomation
+(such as dome position) to the c++ component using gRPC as well.
+
+The c++ code is built around Software Bisque's X2 standard. For more
+infomation on this `see here <https://www.bisque.com/x2standard/class_x2_dome.html#a7ffd792950cdd0abe1b022e7a8caff9e>`.
+
+Requirements
+---------------
+
+``grpc python`` See instructions `here <https://grpc.io/docs/quickstart/python/>`_.
+``grpc c++`` See instructions `here <https://grpc.io/docs/quickstart/cpp/>`_.
+
+Getting Started
+---------------
+
+The code for the Huntsman dome driver is contained in the
+``domehunter/protos/src`` directory. This directory contains both
+human written files and files automatically generated by gRPC
+tools. The human written files are,
+
+* ``main.cpp`` - establishes main library to X2 driver (mostly copy/paste from example)
+* ``main.h`` - header for main.cpp
+* ``x2dome.cpp`` - the library code that serves the RPC from TSX to python server
+* ``x2dome.h`` - header for x2dome.cpp
+* ``hx2dome.proto`` - language agnostic RPC definitions used by everthing
+* ``hx2dome.proto_server.py`` - python server that receives RPC from TSX
+
+The remaining cpp and python files are automatically produced
+by gRPC and shouldn't need to be looked at. If for some reason
+you want to generate these files yourself, see the
+*gRPC automatically generated files* section below.
+
+The files for compilation and installation are found in the
+``domehunter/protos/`` directory. The relevant files are,
+
+
+* ``domelistHuntsmanDome.txt``
+* ``TheSkyX_plugin_install.sh``
+* ``Makefile``
+
+The first two are files are used to install the compiled c++
+driver. You should be able to simply run the shell script once
+the driver is compiled and located in the ``domehunter/protos/``
+directory, with filename ``libHuntsmanDome.so``.
+
+|
+
+In order to compile the driver simply run the makefile recipe.
+
+|
+
+Once the driver is installed in TheSkyX, it can be selected from
+the dome selection menu. Before issuing any commands, start the
+``domehunter/protos/src/hx2dome.proto_server.py`` in a new terminal.
+When you issue a command through TheSkyX, the c++ driver will send
+a remote procedure call through to the gRPC python server. Currently
+the server will just return a dummy response to the c++ driver,
+which will be passed to TheSkyX. In the future the gRPC python server
+will be used to issue commands to the dome hardware.
+
+gRPC automatically generated files
+----------------------------------
+
+In the ``domehunter/protos/`` directory there are a number of shell
+scripts. These can be used to generate the gRPC files within the ``src/``
+directory. These scripts contain path variables that may need to be
+adjusted to your local machine. You shouldn't need to worry about
+this as the generated files are committed to the repositry and
+shouldn't need to be generated.
+
+
+
+
 
 License
 -------
@@ -18,34 +104,6 @@ which is licensed under the BSD 3-clause licence. See the licenses folder for
 more information.
 
 
-Contributing
-------------
-
-We love contributions! huntsman-dome is open source,
-built on open source, and we'd love to have you hang out in our community.
-
-**Imposter syndrome disclaimer**: We want your help. No, really.
-
-There may be a little voice inside your head that is telling you that you're not
-ready to be an open source contributor; that your skills aren't nearly good
-enough to contribute. What could you possibly offer a project like this one?
 
-We assure you - the little voice in your head is wrong. If you can write code at
-all, you can contribute code to open source. Contributing to open source
-projects is a fantastic way to advance one's coding skills. Writing perfect code
-isn't the measure of a good developer (that would disqualify all of us!); it's
-trying to create something, making mistakes, and learning from those
-mistakes. That's how we all improve, and we are happy to help others learn.
 
-Being an open source contributor doesn't just mean writing code, either. You can
-help out by writing documentation, tests, or even giving feedback about the
-project (and yes - that includes giving feedback about the contribution
-process). Some of these contributions may be the most valuable to the project as
-a whole, because you're coming to the project with fresh eyes, so you can see
-the errors and assumptions that seasoned contributors have glossed over.
 
-Note: This disclaimer was originally written by
-`Adrienne Lowe <https://github.com/adriennefriend>`_ for a
-`PyCon talk <https://www.youtube.com/watch?v=6Uj746j9Heo>`_, and was adapted by
-huntsman-dome based on its use in the README file for the
-`MetPy project <https://github.com/Unidata/MetPy>`_.

domehunter/protos/Makefile

@@ -0,0 +1,36 @@
+# Makefile for libHuntsmanDome
+
+CXX = g++
+CFLAGS = -fPIC -Wall -Wextra -O2 -g -DSB_LINUX_BUILD -I. -I./src/licensedinterfaces/\
+         -L/usr/local/lib -lprotobuf -pthread -lgrpc++ -pthread -I/usr/local/include
+
+CPPFLAGS = -fPIC -Wall -Wextra -O2 -g -DSB_LINUX_BUILD -I. -I./src/licensedinterfaces/ -I/usr/local/include\
+	   -L/usr/local/lib -lprotobuf -pthread -lgrpc++ -pthread 
+
+CXXFLAGS += -std=c++11
+
+LDFLAGS = -shared -lstdc++ -L/usr/local/lib -lprotobuf -pthread -lgrpc++\
+	  -Wl,--no-as-needed -lgrpc++_reflection -Wl,--as-needed -ldl 
+
+
+RM = rm -f
+STRIP = strip
+TARGET_LIB = libHuntsmanDome.so
+
+SRCS = src/main.cpp src/x2dome.cpp src/hx2dome.grpc.pb.cpp src/hx2dome.pb.cpp
+OBJS = $(SRCS:.cpp=.o)
+
+.PHONY: all
+all: ${TARGET_LIB}
+
+$(TARGET_LIB): $(OBJS)
+	$(CXX) $^ ${LDFLAGS} -o $@
+	$(STRIP) $@ >/dev/null 2>&1  || true
+
+$(SRCS:.cpp=.d):%.d:%.cpp
+	$(CXX) $(CFLAGS) $(CPPFLAGS) $(LDFLAGS) -MM $< >$@
+
+
+.PHONY: clean
+clean:
+	${RM} ${TARGET_LIB} ${OBJS}

domehunter/protos/TheSkyX_plugin_install.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+
+TheSkyX_Install=`/usr/bin/find ~/Library/Application\ Support/Software\ Bisque/ -name TheSkyXInstallPath.txt`
+echo "TheSkyX_Install = $TheSkyX_Install"
+
+if [ ! -f "$TheSkyX_Install" ]; then
+    echo TheSkyXInstallPath.txt not found
+    TheSkyX_Path=`/usr/bin/find ~/ -maxdepth 3 -name TheSkyX`
+    if [ -d "$TheSkyX_Path" ]; then
+		TheSkyX_Path="${TheSkyX_Path}/Contents"
+    else
+	   echo TheSkyX application was not found.
+    	exit 1
+	 fi
+else
+	TheSkyX_Path=$(<"$TheSkyX_Install")
+fi
+
+echo "Installing to $TheSkyX_Path"
+
+
+if [ ! -d "$TheSkyX_Path" ]; then
+    echo TheSkyX Install dir not exist
+    exit 1
+fi
+
+if [ -d "$TheSkyX_Path/Resources/Common/PlugIns64" ]; then
+	PLUGINS_DIR="PlugIns64"
+else
+	PLUGINS_DIR="PlugIns"
+fi
+
+cp "./domelist HuntsmanDome.txt" "$TheSkyX_Path/Resources/Common/Miscellaneous Files/"
+cp "./libHuntsmanDome.so" "$TheSkyX_Path/Resources/Common/$PLUGINS_DIR/DomePlugIns/"
+
+app_owner=`/usr/bin/stat -c "%u" "$TheSkyX_Path" | xargs id -n -u`
+if [ ! -z "$app_owner" ]; then
+	chown $app_owner "$TheSkyX_Path/Resources/Common/Miscellaneous Files/domelist HuntsmanDome.txt"
+	chown $app_owner "$TheSkyX_Path/Resources/Common/$PLUGINS_DIR/DomePlugIns/libHuntsmanDome.so"
+fi
+chmod  755 "$TheSkyX_Path/Resources/Common/$PLUGINS_DIR/DomePlugIns/libHuntsmanDome.so"
+

domehunter/protos/domelist HuntsmanDome.txt

@@ -0,0 +1,4 @@
+//See hardwarelist.txt for details on this file format.
+//Version|Manufacturer|Model|Comment|MapsTo|PlugInDllName|X2Developer|Windows|Mac|Linux|
+1|Huntsman Telescope|Huntsman Telescope Dome Controller v1| | |libHuntsmanDome||0|0|1|
+

domehunter/protos/generate_grpc_cpp_code.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+
+if [ "$1" == "clean" ]; then
+	rm libhuntsmandome*
+	rm src/*.grpc.pb.*
+	rm src/*.pb.*
+	rm *.o
+	rm .qmake.stash
+else
+	HDOME_PATH="$HOME/Documents/REPOS"
+	PROTOS_PATH="$HDOME_PATH/huntsman-dome/domehunter/protos/src/"
+	PROTO_PATH1="/usr/local/include/google/protobuf/"
+	PROTO_PATH2="$HDOME_PATH/huntsman-dome/domehunter/protos/src/hx2dome.proto"
+	GRPC_CPP_PLUGIN_PATH="$(which grpc_cpp_plugin)"
+
+	echo -e "Generating GRPC C++ code\n"
+
+	echo -e "protoc -I $PROTOS_PATH --cpp_out=. src/hx2dome.proto\n"
+	protoc -I "$PROTOS_PATH" --cpp_out=. hx2dome.proto
+
+	echo -e "protoc -I $PROTOS_PATH --grpc_out=. --proto_path=$PROTO_PATH1 $PROTO_PATH2 --plugin=protoc-gen-grpc=$GRPC_CPP_PLUGIN_PATH\n"
+	protoc -I "$PROTOS_PATH" --grpc_out=. --proto_path="$PROTO_PATH1" "$PROTO_PATH2" --plugin=protoc-gen-grpc="$GRPC_CPP_PLUGIN_PATH"
+
+	echo -e "Moving generated GRPC C++ code to src/\n"
+	mv hx2dome.grpc.pb.cc src/hx2dome.grpc.pb.cpp
+	mv hx2dome.pb.cc src/hx2dome.pb.cpp
+	mv *.pb.h src/
+
+	#echo -e "Generating Makefile from project file.\n"
+	#qmake
+
+	#echo -e "Running Generated Makefile.\n"
+	#make
+
+	#echo -e "Cleaning out object files.\n"
+	#rm *.o
+
+	echo -e "Done.\n"
+fi

domehunter/protos/generate_grpc_python_code.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+if [ "$1" == "clean" ]; then
+	rm src/*pb2_grpc.py
+	rm src/*pb2.py
+else
+	HDOME_PATH="$HOME/Documents/REPOS"
+	PROTOS_PATH="$HDOME_PATH/huntsman-dome/domehunter/protos/src/"
+	PROTO_PATH1="/usr/local/include/google/protobuf/"
+	PROTO_PATH2="$HDOME_PATH/huntsman-dome/domehunter/protos/src/hx2dome.proto"
+
+	echo -e "\nGenerating GRPC Python code\n"
+
+	echo -e "python -m grpc_tools.protoc -I=$PROTOS_PATH --python_out=. --grpc_python_out=. --proto_path=$PROTO_PATH1 $PROTO_PATH2\n"
+
+	python -m grpc_tools.protoc -I=$PROTOS_PATH --python_out=. --grpc_python_out=. --proto_path=$PROTO_PATH1 $PROTO_PATH2
+
+	echo -e "Moving generated GRPC Python code to src/\n"
+	mv *pb2* src/
+
+	echo -e "Done.\n"
+fi