添加GRPC服务用来部署到linux设备如树莓派,通过这些设备和树莓派连接进行web控制,以便于电子脱离pc

This commit is contained in:
gil zhang
2022-10-15 21:44:26 +08:00
parent ecfab83ec5
commit 3c0cd0c136
21 changed files with 522 additions and 4 deletions
+23
View File
@@ -11,6 +11,10 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "ElectronBot.BraincasePrevie
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@@ -95,10 +99,29 @@ Global
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+61
View File
@@ -0,0 +1,61 @@
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@@ -11,5 +11,17 @@
<PackageReference Include="Microsoft.Graph" Version="4.42.0" />
<PackageReference Include="Microsoft.Identity.Client" Version="4.47.1" />
<PackageReference Include="System.Configuration.ConfigurationManager" Version="6.0.1" />
<PackageReference Include="Google.Protobuf" Version="3.21.7" />
<PackageReference Include="Grpc.Net.Client" Version="2.49.0" />
<PackageReference Include="Grpc.Net.ClientFactory" Version="2.49.0" />
<PackageReference Include="Grpc.Tools" Version="2.49.1">
<PrivateAssets>all</PrivateAssets>
<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
</PackageReference>
</ItemGroup>
<ItemGroup>
<Protobuf Include="Protos\electronbotaction.proto" GrpcServices="Client" />
<Protobuf Include="Protos\greet.proto" GrpcServices="Client" />
</ItemGroup>
</Project>
@@ -0,0 +1,28 @@
syntax = "proto3";
option csharp_namespace = "Verdure.ElectronBot.GrpcService";
package electronbotactionGrpc;
// The electronbotaction service definition.
service ElectronBotActionGrpc {
// Sends a greeting
rpc PlayEmoticonAction (EmoticonActionFrameRequest) returns (EbHelloReply);
}
// The request message containing the user's name.
message EmoticonActionFrameRequest {
float J1 = 1;
float J2 = 2;
float J3 = 3;
float J4 = 4;
float J5 = 5;
float J6 = 6;
bool Enable = 7;
bytes FrameBuffer = 8;
}
// The response message containing the greetings.
message EbHelloReply {
string message = 9;
}
@@ -0,0 +1,21 @@
syntax = "proto3";
option csharp_namespace = "Verdure.ElectronBot.GrpcService";
package greet;
// The greeting service definition.
service Greeter {
// Sends a greeting
rpc SayHello (HelloRequest) returns (HelloReply);
}
// The request message containing the user's name.
message HelloRequest {
string name = 1;
}
// The response message containing the greetings.
message HelloReply {
string message = 1;
}
@@ -0,0 +1,33 @@
using ElectronBot.BraincasePreview.Core.Models;
using Google.Protobuf;
using Verdure.ElectronBot.GrpcService;
namespace ElectronBot.BraincasePreview.Services.EbotGrpcService;
public class EbGrpcService
{
private readonly ElectronBotActionGrpc.ElectronBotActionGrpcClient _client;
public EbGrpcService(ElectronBotActionGrpc.ElectronBotActionGrpcClient client)
{
_client = client;
}
public async Task<string> PlayEmoticonActionFrameAsync(EmoticonActionFrame frame)
{
var data = new EmoticonActionFrameRequest
{
FrameBuffer = ByteString.CopyFrom(frame.FrameBuffer),
Enable = frame.Enable,
J1 = frame.J1,
J2 = frame.J2,
J3 = frame.J3,
J4 = frame.J4,
J5 = frame.J5,
J6 = frame.J6
};
var result = await _client.PlayEmoticonActionAsync(data);
return result.Message;
}
}
@@ -17,6 +17,7 @@ using Microsoft.Graphics.Canvas;
using Microsoft.UI.Xaml;
using Microsoft.UI.Xaml.Controls;
using Microsoft.UI.Xaml.Media.Imaging;
using Verdure.ElectronBot.GrpcService;
using Windows.Media.Playback;
namespace ElectronBot.BraincasePreview;
@@ -138,6 +139,13 @@ public partial class App : Application
services.AddSingleton<IActionExpressionProviderFactory, ActionExpressionProviderFactory>();
services.AddGrpcClient<ElectronBotActionGrpc.ElectronBotActionGrpcClient>(o =>
{
o.Address = new Uri("http://192.168.3.236:5241");
});
services.AddSingleton<Services.EbotGrpcService.EbGrpcService>();
// Configuration
services.Configure<LocalSettingsOptions>(context.Configuration.GetSection(nameof(LocalSettingsOptions)));
}).
@@ -44,7 +44,6 @@
<ItemGroup>
<Manifest Include="$(ApplicationManifest)" />
</ItemGroup>
<ItemGroup>
<PackageReference Include="CommunityToolkit.Mvvm" Version="8.0.0" />
<PackageReference Include="CommunityToolkit.WinUI" Version="7.1.2" />
@@ -3,6 +3,7 @@ using ElectronBot.BraincasePreview.Contracts.Services;
using ElectronBot.BraincasePreview.Core.Models;
using ElectronBot.BraincasePreview.Helpers;
using ElectronBot.BraincasePreview.Models;
using ElectronBot.BraincasePreview.Services.EbotGrpcService;
using OpenCvSharp;
using Windows.ApplicationModel;
@@ -49,7 +50,7 @@ public class DefaultActionExpressionProvider : IActionExpressionProvider
return Task.CompletedTask;
}
public Task PlayActionExpressionAsync(string actionName, List<ElectronBotAction> actions)
public async Task PlayActionExpressionAsync(string actionName, List<ElectronBotAction> actions)
{
Mat image = new();
@@ -108,9 +109,12 @@ public class DefaultActionExpressionProvider : IActionExpressionProvider
currentAction.J6);
EmojiPlayHelper.Current.Enqueue(frameData);
//通过grpc通讯和树莓派传输数据
var grpcClient = App.GetService<EbGrpcService>();
await grpcClient.PlayEmoticonActionFrameAsync(frameData);
}
}
return Task.CompletedTask;
}
}
@@ -0,0 +1,12 @@
{
"version": 1,
"isRoot": true,
"tools": {
"dotnet-ef": {
"version": "6.0.10",
"commands": [
"dotnet-ef"
]
}
}
}
@@ -0,0 +1,74 @@
using ElectronBot.DotNet;
using Verdure.ElectronBot.GrpcService.Models;
namespace Verdure.ElectronBot.GrpcService;
public class EmojiPlayHelper
{
private static EmojiPlayHelper _current;
public static EmojiPlayHelper Current => _current ??= new EmojiPlayHelper();
private readonly Queue<EmoticonActionFrame> _actonFrame = new();
private readonly object _actonFrameLock = new();
public IElectronLowLevel ElectronLowLevel
{
get; set;
}
public int Interval
{
get; set;
}
public void Start()
{
var thread = new Thread(RunPlayAsync);
ElectronLowLevel.Connect();
//thread.IsBackground = true;
thread.Start();
}
public void Clear()
{
_actonFrame.Clear();
}
private void RunPlayAsync()
{
while (true)
{
try
{
lock (_actonFrameLock)
{
if (_actonFrame.Count > 10)
{
var frame = _actonFrame.Dequeue();
if (ElectronLowLevel.IsConnected)
{
ElectronLowLevel.SetImageSrc(frame.FrameBuffer);
ElectronLowLevel.SetJointAngles(frame.J1, frame.J2, frame.J3, frame.J4, frame.J5, frame.J6, frame.Enable);
ElectronLowLevel.Sync();
}
Thread.Sleep(Interval);
}
}
}
catch (Exception ex)
{
}
}
}
public void Enqueue(EmoticonActionFrame frame)
{
_actonFrame.Enqueue(frame);
}
}
@@ -0,0 +1,55 @@
namespace Verdure.ElectronBot.GrpcService.Models;
public class EmoticonActionFrame
{
public byte[] FrameBuffer
{
get; set;
}
public float J1
{
get; set;
}
public float J2
{
get; set;
}
public float J3
{
get; set;
}
public float J4
{
get; set;
}
public float J5
{
get; set;
}
public float J6
{
get; set;
}
public bool Enable
{
get; set;
}
public EmoticonActionFrame(
byte[] imgData,
bool enable = false,
float j1 = 0,
float j2 = 0,
float j3 = 0,
float j4 = 0,
float j5 = 0,
float j6 = 0)
{
FrameBuffer = imgData;
J1 = j1;
J2 = j2;
J3 = j3;
J4 = j4;
J5 = j5;
J6 = j6;
Enable = enable;
}
}
@@ -0,0 +1,26 @@
using ElectronBot.DotNet;
using Verdure.ElectronBot.GrpcService;
using Verdure.ElectronBot.GrpcService.Services;
var builder = WebApplication.CreateBuilder(args);
// Additional configuration is required to successfully run gRPC on macOS.
// For instructions on how to configure Kestrel and gRPC clients on macOS, visit https://go.microsoft.com/fwlink/?linkid=2099682
// Add services to the container.
builder.Services.AddGrpc();
builder.Services.AddSingleton<IElectronLowLevel, ElectronLowLevel>();
var app = builder.Build();
EmojiPlayHelper.Current.ElectronLowLevel = app.Services.GetRequiredService<IElectronLowLevel>();
EmojiPlayHelper.Current.Start();
// Configure the HTTP request pipeline.
app.MapGrpcService<GreeterService>();
app.MapGrpcService<ElectronBotActionService>();
app.MapGet("/abc", () => "Communication with gRPC endpoints must be made through a gRPC client. To learn how to create a client, visit: https://go.microsoft.com/fwlink/?linkid=2086909");
app.Run();
@@ -0,0 +1,13 @@
{
"profiles": {
"Verdure.ElectronBot.GrpcService": {
"commandName": "Project",
"dotnetRunMessages": true,
"launchBrowser": false,
"applicationUrl": "http://localhost:5191",
"environmentVariables": {
"ASPNETCORE_ENVIRONMENT": "Development"
}
}
}
}
@@ -0,0 +1,28 @@
syntax = "proto3";
option csharp_namespace = "Verdure.ElectronBot.GrpcService";
package electronbotactiongrpc;
// The electronbotaction service definition.
service ElectronBotActionGrpc {
// Sends a greeting
rpc PlayEmoticonAction (EmoticonActionFrameRequest) returns (EbHelloReply);
}
// The request message containing the user's name.
message EmoticonActionFrameRequest {
float J1 = 1;
float J2 = 2;
float J3 = 3;
float J4 = 4;
float J5 = 5;
float J6 = 6;
bool Enable = 7;
bytes FrameBuffer = 8;
}
// The response message containing the greetings.
message EbHelloReply {
string message = 9;
}
@@ -0,0 +1,21 @@
syntax = "proto3";
option csharp_namespace = "Verdure.ElectronBot.GrpcService";
package greet;
// The greeting service definition.
service Greeter {
// Sends a greeting
rpc SayHello (HelloRequest) returns (HelloReply);
}
// The request message containing the user's name.
message HelloRequest {
string name = 1;
}
// The response message containing the greetings.
message HelloReply {
string message = 1;
}
@@ -0,0 +1,36 @@
using ElectronBot.DotNet;
using Grpc.Core;
using Verdure.ElectronBot.GrpcService.Models;
namespace Verdure.ElectronBot.GrpcService.Services;
public class ElectronBotActionService : ElectronBotActionGrpc.ElectronBotActionGrpcBase
{
private readonly ILogger<ElectronBotActionService> _logger;
private readonly IElectronLowLevel _electronLowLevel;
public ElectronBotActionService(ILogger<ElectronBotActionService> logger, IElectronLowLevel electronLowLevel)
{
_logger = logger;
_electronLowLevel = electronLowLevel;
}
public override Task<EbHelloReply> PlayEmoticonAction(
EmoticonActionFrameRequest request, ServerCallContext context)
{
var frameAction = request.FrameBuffer.ToByteArray();
var actionData = new EmoticonActionFrame(frameAction, request.Enable,
request.J1,
request.J2,
request.J3,
request.J4,
request.J5,
request.J6);
EmojiPlayHelper.Current.Enqueue(actionData);
var result = new EbHelloReply() { Message = "ok" };
return Task.FromResult(result);
}
}
@@ -0,0 +1,20 @@
using Grpc.Core;
using Verdure.ElectronBot.GrpcService;
namespace Verdure.ElectronBot.GrpcService.Services;
public class GreeterService : Greeter.GreeterBase
{
private readonly ILogger<GreeterService> _logger;
public GreeterService(ILogger<GreeterService> logger)
{
_logger = logger;
}
public override Task<HelloReply> SayHello(HelloRequest request, ServerCallContext context)
{
return Task.FromResult(new HelloReply
{
Message = "Hello " + request.Name
});
}
}
@@ -0,0 +1,22 @@
<Project Sdk="Microsoft.NET.Sdk.Web">
<PropertyGroup>
<TargetFramework>net6.0</TargetFramework>
<Nullable>enable</Nullable>
<ImplicitUsings>enable</ImplicitUsings>
</PropertyGroup>
<ItemGroup>
<Protobuf Include="Protos\electronbotaction.proto" GrpcServices="Server" />
<Protobuf Include="Protos\greet.proto" GrpcServices="Server" />
</ItemGroup>
<ItemGroup>
<PackageReference Include="Grpc.AspNetCore" Version="2.40.0" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\ElectronBot.DotNet\ElectronBot.DotNet.csproj" />
</ItemGroup>
</Project>
@@ -0,0 +1,8 @@
{
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning"
}
}
}
@@ -0,0 +1,14 @@
{
"Logging": {
"LogLevel": {
"Default": "Information",
"Microsoft.AspNetCore": "Warning"
}
},
"AllowedHosts": "*",
"Kestrel": {
"EndpointDefaults": {
"Protocols": "Http2"
}
}
}