From 769f4ccaa1b4f1fbcdc711b19cc6c53e2ec6ff01 Mon Sep 17 00:00:00 2001
From: marfanr <mohammadarfan45@gmail.com>
Date: Sun, 26 Jan 2025 19:17:13 +0700
Subject: [PATCH 1/2] feat: add brake actions srv

---
 srv/BrakeActions.srv | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 srv/BrakeActions.srv

diff --git a/srv/BrakeActions.srv b/srv/BrakeActions.srv
new file mode 100644
index 0000000..1308cc2
--- /dev/null
+++ b/srv/BrakeActions.srv
@@ -0,0 +1,2 @@
+---
+bool success
\ No newline at end of file

From 25b7d1278df09e11116b8166a68ad8895cccb207 Mon Sep 17 00:00:00 2001
From: mbsaloka <mbsaloka@gmail.com>
Date: Sun, 9 Mar 2025 15:06:58 +0700
Subject: [PATCH 2/2] feat: remove gRPC dependencies

---
 CMakeLists.txt       | 51 --------------------------------------------
 proto/akushon.proto  | 47 ----------------------------------------
 srv/BrakeActions.srv |  2 --
 srv/SaveActions.srv  |  2 +-
 4 files changed, 1 insertion(+), 101 deletions(-)
 delete mode 100644 proto/akushon.proto
 delete mode 100644 srv/BrakeActions.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 62b055f..bd6d386 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,41 +16,6 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
-set(protobuf_MODULE_COMPATIBLE TRUE)
-find_package(Protobuf CONFIG REQUIRED)
-message(STATUS "Using protobuf ${Protobuf_VERSION}")
-
-find_package(gRPC CONFIG REQUIRED)
-message(STATUS "Using gRPC ${gRPC_VERSION}")
-
-# Generated sources
-file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto)
-add_custom_command(
-      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc" 
-            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h"
-            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc"
-            "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h"
-      COMMAND $<TARGET_FILE:protobuf::protoc>
-      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
-        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
-        -I ${CMAKE_CURRENT_SOURCE_DIR}/proto
-        --plugin=protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>
-        ${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto
-      DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto)
-
-add_library(akushon_proto
-    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc
-    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h
-    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc
-    ${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h)
-
-target_compile_options(akushon_proto PRIVATE -fPIC)
-target_compile_features(akushon_proto PUBLIC cxx_std_17)
-
-target_link_libraries(akushon_proto
-  protobuf::libprotobuf
-)
-
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RunAction.msg"
   "msg/Status.msg"
@@ -58,20 +23,4 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SaveActions.srv")
 
 ament_export_dependencies(rosidl_default_runtime)
-ament_export_targets(akushon_proto HAS_LIBRARY_TARGET)
-
-install (
-  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto/
-  DESTINATION include/${PROJECT_NAME}
-)
-
-install (
-  TARGETS akushon_proto
-  EXPORT akushon_proto
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
-)
-
 ament_package()
diff --git a/proto/akushon.proto b/proto/akushon.proto
deleted file mode 100644
index 15fc210..0000000
--- a/proto/akushon.proto
+++ /dev/null
@@ -1,47 +0,0 @@
-syntax = "proto3";
-
-package akushon_interfaces.proto;
-
-service Config {
-  rpc GetConfig (Empty) returns (ConfigActions) {}
-
-  rpc SaveConfig (ConfigActions) returns (Empty) {}
-
-  rpc PublishSetJoints (SetJointsData) returns (Empty) {}
-
-  rpc RunAction (ConfigRunAction) returns (Empty) {}
-
-  rpc SetTorques (SetTorquesData) returns (Empty) {}
-
-  rpc SubscribeCurrentJoints (Empty) returns (CurrentJoints) {}
-
-  rpc LoadConfig (Empty) returns (Empty) {}
-
-  rpc BrakeAction (Empty) returns (Empty) {}
-}
-
-message Empty {}
-
-message ConfigActions {
-  string json_actions = 1;
-}
-
-message SetJointsData {
-  int32 control_type = 1;
-  string joints_actions = 2;
-}
-
-message ConfigRunAction {
-  int32 control_type = 1;
-  string action_name = 2;
-  string json_action = 3;
-}
-
-message SetTorquesData {
-  string ids = 1;
-  bool torque_enable = 2;
-}
-
-message CurrentJoints {
-  string msg_joints = 1;
-}
diff --git a/srv/BrakeActions.srv b/srv/BrakeActions.srv
deleted file mode 100644
index 1308cc2..0000000
--- a/srv/BrakeActions.srv
+++ /dev/null
@@ -1,2 +0,0 @@
----
-bool success
\ No newline at end of file
diff --git a/srv/SaveActions.srv b/srv/SaveActions.srv
index cbb126a..831aed5 100644
--- a/srv/SaveActions.srv
+++ b/srv/SaveActions.srv
@@ -1,3 +1,3 @@
 string json
 ---
-string status
+bool status