DRS API - gRPC Microservices

This project provides gRPC-based microservice APIs for system management and control in the DRS (Data Recording System).

Service Architecture

1. Module Manager Service

• Language: Go
• Port: 50051
• Package: drs.module.v1
• Functions:
  • System control (reboot/shutdown)
  • Service management (start/stop/restart/enable/disable)
  • Disk usage monitoring
  • PTP (Precision Time Protocol) synchronization status
  • Configurable API endpoints per module requirements

2. ROS2 Bridge Service

• Language: C++
• Port: 50052
• Functions:
  • Subscribe to ROS2 topics and retrieve values via gRPC
  • Call ROS2 services via gRPC

Directory Structure

drs-api/
├── proto/                     # gRPC definition files
│   └── drs/
│       └── module/
│           └── v1/
│               └── module.proto
├── services/                  # Microservices
│   ├── module-manager/        # System management service
│   └── ros2-bridge/          # ROS2 bridge service
├── scripts/                  # Build and utility scripts
└── docs/                     # Documentation

Setup

1. Required Tools Installation

# Install protobuf compiler
sudo apt-get install -y protobuf-compiler

# Install gRPC C++ plugin (for ROS2 bridge)
sudo apt-get install -y libgrpc++-dev protobuf-compiler-grpc

# Install Go protoc plugins
go install google.golang.org/protobuf/cmd/protoc-gen-go@latest
go install google.golang.org/grpc/cmd/protoc-gen-go-grpc@latest

Notes

• Module Manager service requires native execution (for shutdown/reboot/systemd operations)
• For ARM64 deployment, use cross-compiled binaries
• For older glibc environments, use static linked versions (*-static)

2. Generate Code from Proto Definitions

# From project root
cd drs-api

# Generate protobuf code for Module Manager
protoc --go_out=services/module-manager --go-grpc_out=services/module-manager proto/drs/module/v1/module.proto

Build and Run

Module Manager (Go)

Static linked versions work on older glibc environments.

cd services/module-manager

# Build for local architecture
make build

# Build static version
make build-static

# Build for ARM64
make build-arm64

# Build ARM64 static version
make build-arm64-static

# Build all versions
make all-static

# Run the service
./bin/module-manager -port=50051

# Run with custom config
./bin/module-manager -config=custom-config.yaml

# Run on ARM64
./bin/module-manager-arm64 -port=50051

Configuration

The Module Manager service is highly configurable. Each API can be individually enabled/disabled based on module requirements:

server:
  port: 50051

# Disk monitoring settings
disk:
  enabled: true
  monitor_path: "/"

# Service management settings
services:
  enabled: true
  services:
    drs_sensor:
      systemd_name: "drs-sensor.service"
      description: "DRS Sensor Service"

# System settings
system:
  enable_reboot: true
  enable_shutdown: true

# PTP sync settings
ptp:
  enabled: true
  remote_devices:
    - name: "sensor1"
      address: "192.168.1.101:50051"

See services/module-manager/README.md for detailed configuration options.

ROS2 Bridge (C++)

cd services/ros2-bridge
colcon build
source install/setup.bash
ros2 run ros2_bridge ros2_bridge_node

API Specifications

Module Manager API

The Module Manager service follows Cloud API Design Guide principles:

• Resource-oriented design with standard methods
• Fire-and-forget pattern for system operations (reboot/shutdown)
• Direct resource returns without success/message wrappers

API details can be found in proto/drs/module/v1/module.proto.

ROS2 Bridge API

API specifications for ROS2 Bridge are in the respective proto files.

Development

API Design Principles

• Follow Google Cloud API Design Guide
• Use resource-oriented design
• Implement standard methods (Get, List, Create, Update, Delete) where applicable
• Use proper error handling with gRPC status codes

Module-Specific Deployments

The Module Manager can be configured differently for each module type:

• Sensing Module: Enable all APIs including PTP sync monitoring
• Storage Module: Focus on disk monitoring, disable unnecessary APIs
• Control Module: Enable service management for system-wide control

See configuration examples in services/module-manager/README.md.