将 gRPC 集成到 C++ 机器人系统中可以显著提升系统的通信效率和性能。以下是一个基本的步骤指南：

1. 安装 gRPC 和依赖项：

   • 在 Linux 系统上，可以使用以下命令安装 gRPC 和其依赖项：

     sudo apt update
     sudo apt install -y build-essential autoconf libtool pkg-config libsystemd-dev libssl-dev
     sudo apt install -y protobuf-compiler libprotobuf-dev libgflags-dev libgtest-dev libc++-dev clang
     git clone https://github.com/grpc/grpc.git
     cd grpc
     git submodule update --init
     mkdir -p cmake/build
     cd cmake/build
     cmake ../..
     make
     sudo make install
     

2. 编写 .proto 文件：

   • 定义服务和消息类型。例如：

     syntax = "proto3";
     package robot_service;
     
     service RobotService {
       rpc GetStatus (StatusRequest) returns (StatusResponse) {}
       rpc Move (MoveRequest) returns (MoveResponse) {}
     }
     
     message StatusRequest {}
     message StatusResponse {
       string status = 1;
     }
     
     message MoveRequest {
       int32 direction = 1;
       int32 distance = 2;
     }
     
     message MoveResponse {
       bool success = 1;
     }
     

3. 生成 gRPC 代码：

   • 使用 protoc 编译 .proto 文件，生成服务端和客户端代码：

     protoc --cpp_out=. --grpc_out=. --plugin=protoc-gen-grpc=`which grpc_cpp_plugin` robot_service.proto
     

4. 实现服务端：

   • 创建并实现服务端代码：

     #include <grpcpp/grpcpp.h>
     #include "robot_service.grpc.pb.h"
     
     class RobotServiceImpl final : public robot_service::RobotService::Service {
       grpc::Status GetStatus(grpc::ServerContext* context, const robot_service::StatusRequest* request, robot_service::StatusResponse* response) override {
         response->set_status("OK");
         return grpc::Status::OK;
       }
     
       grpc::Status Move(grpc::ServerContext* context, const robot_service::MoveRequest* request, robot_service::MoveResponse* response) override {
         // Implement movement logic here
         response->set_success(true);
         return grpc::Status::OK;
       }
     };
     
     void RunServer() {
       std::string server_address("0.0.0.0:50051");
       RobotServiceImpl service;
       grpc::ServerBuilder builder;
       builder.AddListeningPort(server_address, grpc::InsecureServerCredentials());
       builder.RegisterService(&service);
       std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
       std::cout << "Server listening on " << server_address << std::endl;
       server->Wait();
     }
     
     int main(int argc, char** argv) {
       RunServer();
       return 0;
     }
     

5. 实现客户端：

   • 创建并实现客户端代码：

     #include <grpcpp/grpcpp.h>
     #include "robot_service.grpc.pb.h"
     
     class RobotClient {
     public:
       RobotClient(std::shared_ptr<grpc::Channel> channel) : stub_(robot_service::RobotService::NewStub(channel)) {}
     
       std::string GetStatus() {
         robot_service::StatusRequest request;
         robot_service::StatusResponse response;
         grpc::ClientContext context;
         grpc::Status status = stub_->GetStatus(&context, request, &response);
         if (status.ok()) {
           return response.status();
         } else {
           return "RPC failed";
         }
       }
     
       bool Move(int direction, int distance) {
         robot_service::MoveRequest request;
         request.set_direction(direction);
         request.set_distance(distance);
         robot_service::MoveResponse response;
         grpc::ClientContext context;
         grpc::Status status = stub_->Move(&context, request, &response);
         return status.ok() && response.success();
       }
     
     private:
       std::unique_ptr<robot_service::RobotService::Stub> stub_;
     };
     
     int main(int argc, char** argv) {
       RobotClient client(grpc::CreateChannel("localhost:50051", grpc::InsecureChannelCredentials()));
       std::cout << "Status: " << client.GetStatus() << std::endl;
       bool success = client.Move(1, 10);
       std::cout << "Move success: " << success << std::endl;
       return 0;
     }
     

通过这些步骤，你可以在 C++ 机器人系统中集成 gRPC，实现高效的远程过程调用¹²³。如果你有任何具体问题或需要进一步的帮助，请告诉我！

源: 与必应的对话， 2025/1/10
(1) C++使用grpc详例(使用CMake构建) - CSDN博客. https://blog.csdn.net/QAZ600888/article/details/137181035.
(2) Visual Studio 2022 C++ gRPC 环境搭建 - CSDN博客. https://blog.csdn.net/Harrytsz/article/details/144912665.
(3) C++快速集成gRPC的几种方式介绍(内含预编译库下载) - 知乎. https://zhuanlan.zhihu.com/p/672607042.
(4) undefined. https://github.com/grpc/grpc.git.
(5) github.com. https://github.com/astavonin/Tasks-Explorer/tree/3feb2d9a0a4694812de6aa895a809899c62fe5c1/tasksexplorerd%2Fapp%2Fmain.cpp.
(6) github.com. https://github.com/JeremiahGelb/NotATank/tree/b81d3b6de573eb91464dc4567a5b9aa7596809c1/grpc_experiments%2Fmotor_control_server.cc.
(7) github.com. https://github.com/cmjagtap/gRPC_examples/tree/a814c49e48e26417762420e00955dc532707c9a3/BidirectionalRPC%2FmyServer.cc.
(8) github.com. https://github.com/ztshandong/ztshandong.github.io/tree/d34369ede09891376b583fdcddf6f5723a77a49d/learn_notes%2FGRPC.md.