From 8c007756a78b49ac5d18a474f250eb853aa09a91 Mon Sep 17 00:00:00 2001
From: marfannr <mohammadarfan45@gmail.com>
Date: Sun, 16 Jun 2024 21:18:32 +0700
Subject: [PATCH 1/3] feat: add config for grpc port on akushon

---
 include/akushon/config/grpc/config.hpp     |  3 ++-
 include/akushon/config/utils/config.hpp    |  3 +++
 src/akushon/action/node/action_manager.cpp |  4 ++++
 src/akushon/config/grpc/config.cpp         | 18 +++++++++++-------
 src/akushon/config/node/config_node.cpp    |  2 +-
 src/akushon/config/utils/config.cpp        | 12 +++++++++++-
 6 files changed, 32 insertions(+), 10 deletions(-)

diff --git a/include/akushon/config/grpc/config.hpp b/include/akushon/config/grpc/config.hpp
index a0c8cc7..273ee0d 100644
--- a/include/akushon/config/grpc/config.hpp
+++ b/include/akushon/config/grpc/config.hpp
@@ -42,7 +42,8 @@ class ConfigGrpc
 
   ~ConfigGrpc();
 
-  void Run(uint16_t port, const std::string & path, rclcpp::Node::SharedPtr & node,
+  void Run(
+    const std::string & path, rclcpp::Node::SharedPtr & node,
     const std::shared_ptr<akushon::ActionManager> & action_manager);
 
 private:
diff --git a/include/akushon/config/utils/config.hpp b/include/akushon/config/utils/config.hpp
index 20e53d5..864f7dd 100644
--- a/include/akushon/config/utils/config.hpp
+++ b/include/akushon/config/utils/config.hpp
@@ -23,6 +23,7 @@
 
 #include <fstream>
 #include <string>
+#include "nlohmann/json.hpp"
 
 namespace akushon
 {
@@ -35,6 +36,8 @@ class Config
   std::string get_config() const;
   void save_config(const std::string & actions_data);
 
+  nlohmann::json get_grpc_config() const;
+
 private:
   std::string path;
 };
diff --git a/src/akushon/action/node/action_manager.cpp b/src/akushon/action/node/action_manager.cpp
index 9b8b727..7021954 100644
--- a/src/akushon/action/node/action_manager.cpp
+++ b/src/akushon/action/node/action_manager.cpp
@@ -76,6 +76,10 @@ void ActionManager::load_config(const std::string & path)
     }
 
     try {
+      if (name == "grpc") {
+        printf("skipping grpc.json\n");
+        continue;
+      }
       std::ifstream file(file_name);
       nlohmann::json action_data = nlohmann::json::parse(file);
 
diff --git a/src/akushon/config/grpc/config.cpp b/src/akushon/config/grpc/config.cpp
index f2315dc..44e1a9d 100644
--- a/src/akushon/config/grpc/config.cpp
+++ b/src/akushon/config/grpc/config.cpp
@@ -25,15 +25,15 @@
 #include <future>
 #include <string>
 
-#include "akushon/config/utils/config.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "akushon/config/grpc/call_data_get_config.hpp"
 #include "akushon/config/grpc/call_data_load_config.hpp"
-#include "akushon/config/grpc/call_data_save_config.hpp"
 #include "akushon/config/grpc/call_data_publish_set_joints.hpp"
 #include "akushon/config/grpc/call_data_publish_set_torques.hpp"
-#include "akushon/config/grpc/call_data_subscribe_current_joints.hpp"
 #include "akushon/config/grpc/call_data_run_action.hpp"
+#include "akushon/config/grpc/call_data_save_config.hpp"
+#include "akushon/config/grpc/call_data_subscribe_current_joints.hpp"
+#include "akushon/config/utils/config.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 using grpc::ServerBuilder;
 using namespace std::chrono_literals;
@@ -49,10 +49,13 @@ ConfigGrpc::~ConfigGrpc()
   cq_->Shutdown();
 }
 
-void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::SharedPtr& node,
-  const std::shared_ptr<ActionManager>& action_manager)
+void ConfigGrpc::Run(
+  const std::string & path, rclcpp::Node::SharedPtr & node,
+  const std::shared_ptr<ActionManager> & action_manager)
 {
-  std::string server_address = absl::StrFormat("0.0.0.0:%d", port);
+  Config config(path);
+  std::string server_address =
+    absl::StrFormat("0.0.0.0:%d", config.get_grpc_config()["port"].get<uint16_t>());
 
   ServerBuilder builder;
   builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
@@ -85,6 +88,7 @@ void ConfigGrpc::Run(uint16_t port, const std::string& path, rclcpp::Node::Share
     }
   });
   std::this_thread::sleep_for(200ms);
+  async_server.detach();
 }
 
 }  // namespace akushon
diff --git a/src/akushon/config/node/config_node.cpp b/src/akushon/config/node/config_node.cpp
index 553bfcc..a1c475f 100644
--- a/src/akushon/config/node/config_node.cpp
+++ b/src/akushon/config/node/config_node.cpp
@@ -51,7 +51,7 @@ ConfigNode::ConfigNode(rclcpp::Node::SharedPtr node, const std::string & path,
       response->status = "SAVED";
     }
   );
-  config_grpc.Run(5060, path, node, action_manager);
+  config_grpc.Run(path, node, action_manager);
   RCLCPP_INFO(rclcpp::get_logger("GrpcServers"), "grpc running");
 }
 
diff --git a/src/akushon/config/utils/config.cpp b/src/akushon/config/utils/config.cpp
index 462eaab..2c4dd2a 100644
--- a/src/akushon/config/utils/config.cpp
+++ b/src/akushon/config/utils/config.cpp
@@ -25,7 +25,6 @@
 
 #include "akushon/action/model/action_name.hpp"
 #include "akushon/config/utils/config.hpp"
-#include "nlohmann/json.hpp"
 
 namespace akushon
 {
@@ -47,6 +46,9 @@ std::string Config::get_config() const
       for (auto i = path.size(); i < file_name.size() - 5; i++) {
         action_name += file_name[i];
       }
+      if (action_name == "grpc") {
+        continue;
+      }
       std::cout << action_name << " | ";
 
       std::ifstream file(action_file.path());
@@ -61,6 +63,14 @@ std::string Config::get_config() const
   return actions_list.dump();
 }
 
+nlohmann::json Config::get_grpc_config() const
+{  
+    std::ifstream grpc_file(this->path + "grpc.json");
+    nlohmann::json grpc_data = nlohmann::json::parse(grpc_file);
+    grpc_file.close();
+    return grpc_data;
+}
+
 void Config::save_config(const std::string & actions_data)
 {
   nlohmann::json actions_list = nlohmann::json::parse(actions_data);

From c1493fcbfbd7ac540e6f48f19c138f5807129fea Mon Sep 17 00:00:00 2001
From: marfannr <mohammadarfan45@gmail.com>
Date: Mon, 17 Jun 2024 01:11:45 +0700
Subject: [PATCH 2/3] feat: change using constant reference node

---
 include/akushon/action/model/action_name.hpp   |  6 ++++++
 .../grpc/call_data_publish_set_joints.hpp      |  2 +-
 .../grpc/call_data_publish_set_torques.hpp     |  2 +-
 .../config/grpc/call_data_run_action.hpp       |  2 +-
 .../call_data_subscribe_current_joints.hpp     |  2 +-
 include/akushon/config/grpc/config.hpp         |  2 +-
 include/akushon/config/utils/config.hpp        |  2 +-
 src/akushon/action/model/action_name.cpp       | 18 ++++++++++++------
 src/akushon/action/node/action_manager.cpp     |  2 +-
 .../grpc/call_data_publish_set_joints.cpp      |  2 +-
 .../grpc/call_data_publish_set_torques.cpp     |  2 +-
 .../config/grpc/call_data_run_action.cpp       |  2 +-
 .../call_data_subscribe_current_joints.cpp     |  2 +-
 src/akushon/config/grpc/config.cpp             |  2 +-
 14 files changed, 30 insertions(+), 18 deletions(-)

diff --git a/include/akushon/action/model/action_name.hpp b/include/akushon/action/model/action_name.hpp
index 245b3de..4320e4a 100644
--- a/include/akushon/action/model/action_name.hpp
+++ b/include/akushon/action/model/action_name.hpp
@@ -47,6 +47,12 @@ class ActionName
   static const char * RIGHT_SIDEKICK;
   static const char * KEEPER_SIT;
   static const char * KEEPER_UP;
+  static const char * MIDDOWN_KEEPER;
+  static const char * MIDUP_KEEPER;
+  static const char * KEEPER_LEFT;
+  static const char * KEEPER_RIGHT;
+  static const char * KEEPER_LEFT_UP;
+  static const char * KEEPER_RIGHT_UP;
 
   static const std::map<std::string, int> map;
 };
diff --git a/include/akushon/config/grpc/call_data_publish_set_joints.hpp b/include/akushon/config/grpc/call_data_publish_set_joints.hpp
index 3622f9e..fe342f1 100644
--- a/include/akushon/config/grpc/call_data_publish_set_joints.hpp
+++ b/include/akushon/config/grpc/call_data_publish_set_joints.hpp
@@ -33,7 +33,7 @@ class CallDataPublishSetJoints
 public:
   CallDataPublishSetJoints(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string& path, rclcpp::Node::SharedPtr& node);
+    const std::string& path, const rclcpp::Node::SharedPtr& node);
 
 protected:
   void AddNextToCompletionQueue() override;
diff --git a/include/akushon/config/grpc/call_data_publish_set_torques.hpp b/include/akushon/config/grpc/call_data_publish_set_torques.hpp
index 1cba37e..0395c1f 100644
--- a/include/akushon/config/grpc/call_data_publish_set_torques.hpp
+++ b/include/akushon/config/grpc/call_data_publish_set_torques.hpp
@@ -33,7 +33,7 @@ class CallDataPublishSetTorques
 public:
   CallDataPublishSetTorques(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string& path, rclcpp::Node::SharedPtr& node);
+    const std::string& path, const rclcpp::Node::SharedPtr& node);
 
 protected:
   virtual void AddNextToCompletionQueue() override;
diff --git a/include/akushon/config/grpc/call_data_run_action.hpp b/include/akushon/config/grpc/call_data_run_action.hpp
index 026051b..e61a19e 100644
--- a/include/akushon/config/grpc/call_data_run_action.hpp
+++ b/include/akushon/config/grpc/call_data_run_action.hpp
@@ -33,7 +33,7 @@ class CallDataRunAction
 public:
   CallDataRunAction(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string& path, rclcpp::Node::SharedPtr& node);
+    const std::string& path, const rclcpp::Node::SharedPtr& node);
 
 protected:
   void AddNextToCompletionQueue() override;
diff --git a/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp b/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp
index 4e00f1e..28a0260 100644
--- a/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp
+++ b/include/akushon/config/grpc/call_data_subscribe_current_joints.hpp
@@ -34,7 +34,7 @@ class CallDataSubscribeCurrentJoints
 public:
   CallDataSubscribeCurrentJoints(
     akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-    const std::string& path, rclcpp::Node::SharedPtr& node);
+    const std::string& path, const rclcpp::Node::SharedPtr& node);
 
 protected:
   void AddNextToCompletionQueue() override;
diff --git a/include/akushon/config/grpc/config.hpp b/include/akushon/config/grpc/config.hpp
index 273ee0d..3f90067 100644
--- a/include/akushon/config/grpc/config.hpp
+++ b/include/akushon/config/grpc/config.hpp
@@ -43,7 +43,7 @@ class ConfigGrpc
   ~ConfigGrpc();
 
   void Run(
-    const std::string & path, rclcpp::Node::SharedPtr & node,
+    const std::string & path, const rclcpp::Node::SharedPtr & node,
     const std::shared_ptr<akushon::ActionManager> & action_manager);
 
 private:
diff --git a/include/akushon/config/utils/config.hpp b/include/akushon/config/utils/config.hpp
index 864f7dd..3c26ecf 100644
--- a/include/akushon/config/utils/config.hpp
+++ b/include/akushon/config/utils/config.hpp
@@ -22,8 +22,8 @@
 #define AKUSHON__CONFIG__UTILS__CONFIG_HPP_
 
 #include <fstream>
+#include <nlohmann/json.hpp>
 #include <string>
-#include "nlohmann/json.hpp"
 
 namespace akushon
 {
diff --git a/src/akushon/action/model/action_name.cpp b/src/akushon/action/model/action_name.cpp
index 8548cc8..b8d279d 100644
--- a/src/akushon/action/model/action_name.cpp
+++ b/src/akushon/action/model/action_name.cpp
@@ -45,13 +45,19 @@ const char * ActionName::LEFTWARD_UP = "leftward_up";
 const char * ActionName::RIGHTWARD_UP = "rightward_up";
 const char * ActionName::RIGHT_KICK = "right_kick";
 const char * ActionName::LEFT_KICK = "left_kick";
-const char * ActionName::RIGHT_KICK_SHORT = "right_kick_short";
-const char * ActionName::LEFT_KICK_SHORT = "left_kick_short";
-const char * ActionName::RIGHT_KICK_WIDE = "right_kick_wide";
-const char * ActionName::LEFT_KICK_WIDE = "left_kick_wide";
-const char * ActionName::LEFT_SIDEKICK = "left_sidekick";
-const char * ActionName::RIGHT_SIDEKICK = "right_sidekick";
+const char * ActionName::RIGHT_KICK_SHORT = "right_kick";
+const char * ActionName::LEFT_KICK_SHORT = "walk_ready";
+const char * ActionName::RIGHT_KICK_WIDE = "right_kick";
+const char * ActionName::LEFT_KICK_WIDE = "left_kick";
+const char * ActionName::LEFT_SIDEKICK = "left_kick";
+const char * ActionName::RIGHT_SIDEKICK = "right_kick";
 const char * ActionName::KEEPER_SIT = "keeper_sit";
 const char * ActionName::KEEPER_UP = "keeper_up";
+const char * ActionName::MIDDOWN_KEEPER = "middown_keeper";
+const char * ActionName::MIDUP_KEEPER = "midup_keeper";
+const char * ActionName::KEEPER_LEFT = "left_keeper";
+const char * ActionName::KEEPER_RIGHT = "right_keeper";
+const char * ActionName::KEEPER_LEFT_UP = "leftup_keeper";
+const char * ActionName::KEEPER_RIGHT_UP = "rightup_keeper";
 
 }  // namespace akushon
diff --git a/src/akushon/action/node/action_manager.cpp b/src/akushon/action/node/action_manager.cpp
index 7021954..5995986 100644
--- a/src/akushon/action/node/action_manager.cpp
+++ b/src/akushon/action/node/action_manager.cpp
@@ -77,7 +77,7 @@ void ActionManager::load_config(const std::string & path)
 
     try {
       if (name == "grpc") {
-        printf("skipping grpc.json\n");
+        std::cout << "skipping grpc.json" << std::endl;
         continue;
       }
       std::ifstream file(file_name);
diff --git a/src/akushon/config/grpc/call_data_publish_set_joints.cpp b/src/akushon/config/grpc/call_data_publish_set_joints.cpp
index 2d89890..a18d734 100644
--- a/src/akushon/config/grpc/call_data_publish_set_joints.cpp
+++ b/src/akushon/config/grpc/call_data_publish_set_joints.cpp
@@ -26,7 +26,7 @@ namespace akushon
 {
 CallDataPublishSetJoints::CallDataPublishSetJoints(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string& path, rclcpp::Node::SharedPtr& node)
+  const std::string& path, const rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   set_joints_publisher_ =
diff --git a/src/akushon/config/grpc/call_data_publish_set_torques.cpp b/src/akushon/config/grpc/call_data_publish_set_torques.cpp
index 2f9f79f..d65c4d5 100644
--- a/src/akushon/config/grpc/call_data_publish_set_torques.cpp
+++ b/src/akushon/config/grpc/call_data_publish_set_torques.cpp
@@ -27,7 +27,7 @@ namespace akushon
 {
 CallDataPublishSetTorques::CallDataPublishSetTorques(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string& path, rclcpp::Node::SharedPtr& node)
+  const std::string& path, const rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   set_torque_publisher_ =
diff --git a/src/akushon/config/grpc/call_data_run_action.cpp b/src/akushon/config/grpc/call_data_run_action.cpp
index a6d5510..71beadd 100644
--- a/src/akushon/config/grpc/call_data_run_action.cpp
+++ b/src/akushon/config/grpc/call_data_run_action.cpp
@@ -26,7 +26,7 @@ namespace akushon
 {
 CallDataRunAction::CallDataRunAction(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string& path, rclcpp::Node::SharedPtr& node)
+  const std::string& path, const rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   run_action_publisher_ =
diff --git a/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp b/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp
index 778f267..11b6610 100644
--- a/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp
+++ b/src/akushon/config/grpc/call_data_subscribe_current_joints.cpp
@@ -30,7 +30,7 @@ namespace akushon
 {
 CallDataSubscribeCurrentJoints::CallDataSubscribeCurrentJoints(
   akushon_interfaces::proto::Config::AsyncService * service, grpc::ServerCompletionQueue * cq,
-  const std::string& path, rclcpp::Node::SharedPtr& node)
+  const std::string& path, const rclcpp::Node::SharedPtr& node)
 : CallData(service, cq, path), node_(node)
 {
   current_joint_subscription_ =
diff --git a/src/akushon/config/grpc/config.cpp b/src/akushon/config/grpc/config.cpp
index 44e1a9d..d217824 100644
--- a/src/akushon/config/grpc/config.cpp
+++ b/src/akushon/config/grpc/config.cpp
@@ -50,7 +50,7 @@ ConfigGrpc::~ConfigGrpc()
 }
 
 void ConfigGrpc::Run(
-  const std::string & path, rclcpp::Node::SharedPtr & node,
+  const std::string & path, const rclcpp::Node::SharedPtr & node,
   const std::shared_ptr<ActionManager> & action_manager)
 {
   Config config(path);

From b7edebcaab908d91e91235de818ea0f14745fdcc Mon Sep 17 00:00:00 2001
From: marfannr <mohammadarfan45@gmail.com>
Date: Sat, 22 Jun 2024 16:33:30 +0700
Subject: [PATCH 3/3] feat: resolve request to change

---
 src/akushon/config/grpc/config.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/akushon/config/grpc/config.cpp b/src/akushon/config/grpc/config.cpp
index d217824..99b42a6 100644
--- a/src/akushon/config/grpc/config.cpp
+++ b/src/akushon/config/grpc/config.cpp
@@ -23,6 +23,7 @@
 #include <chrono>
 #include <csignal>
 #include <future>
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 
 #include "akushon/config/grpc/call_data_get_config.hpp"
@@ -33,7 +34,6 @@
 #include "akushon/config/grpc/call_data_save_config.hpp"
 #include "akushon/config/grpc/call_data_subscribe_current_joints.hpp"
 #include "akushon/config/utils/config.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 using grpc::ServerBuilder;
 using namespace std::chrono_literals;