gRPC Mission Vehicle

gRPC Mission Vehicle Communication Module

Note

Features: - Bidirectional communication with ROS2 systems - Thread-safe queue-based message handling - Graceful connection management - Comprehensive logging system

class grpc_mission_vehicle.ResultCommunicationService(*args: Any, **kwargs: Any)

Bases: ResultCommunicationServicer

gRPC service handler for vehicle result collection from ROS2.

Parameters:

• receive_vehicle_queue – Queue for storing incoming vehicle results

• mission_logger – Configured logger instance

__init__(receive_vehicle_queue, mission_logger)

SendResult(request, context)

Process incoming vehicle results from ROS2.

Parameters:

• request – gRPC request containing drone result data

• context – gRPC connection context

Returns:

Confirmation response

grpc_mission_vehicle.run_client(send_vehicle_queue, mission_logger)

Continuous client for sending vehicle plans to ROS2.

Parameters:

• send_vehicle_queue – Queue containing outgoing vehicle plans

• mission_logger – Configured logger instance

grpc_mission_vehicle.run_server(receive_vehicle_queue, mission_logger)

gRPC server instance for result collection.

Parameters:

• receive_vehicle_queue – Queue for incoming vehicle results

• mission_logger – Configured logger instance

grpc_mission_vehicle.start_grpc_mission_vehicle(send_vehicle_queue, receive_vehicle_queue, mission_logger)

Initialize and start gRPC communication components.

Parameters:

• send_vehicle_queue – Outgoing vehicle plan queue

• receive_vehicle_queue – Incoming result queue

• mission_logger – Configured logger instance

grpc_mission_vehicle.create_logger(logger_name, log_file)

Configure and return a concurrent-safe logger instance.

Parameters:

• logger_name – Name for the logger instance

• log_file – Path to log file

Returns:

Configured logger instance