change driver_rpc_client for orin.

include/ivpcl.pri

@@ -7,3 +7,4 @@ unix:INCLUDEPATH += /usr/include/eigen3
 unix:INCLUDEPATH += /usr/include/pcl-1.7
 unix:INCLUDEPATH += /usr/include/pcl-1.8
 unix:INCLUDEPATH += /usr/include/pcl-1.12
+unix:INCLUDEPATH += /usr/include/pcl-1.10

src/driver/driver_rpc_client/driver_rpc_client.pro

@@ -1,6 +1,6 @@
 QT -= gui
 
-CONFIG += c++11 console
+CONFIG += c++11 #console
 CONFIG -= app_bundle
 
 # The following define makes your compiler emit warnings if you use
@@ -11,6 +11,8 @@ DEFINES += QT_DEPRECATED_WARNINGS
 
 QMAKE_LFLAGS += -no-pie
 
+system("protoc *.proto -I=./ --cpp_out=./")
+
 # You can also make your code fail to compile if you use deprecated APIs.
 # In order to do so, uncomment the following line.
 # You can also select to disable deprecated APIs only up to a certain version of Qt.
@@ -19,7 +21,7 @@ QMAKE_LFLAGS += -no-pie
 SOURCES += main.cpp \
     echo.pb.cc
 
-system("sysarch=$(dpkg --print-architecture) ;rm -r ../../..//thirdpartylib/BRPC/lib/lib;unzip ../../../thirdpartylib/BRPC/lib/$sysarch/lib.zip -d ../../..//thirdpartylib/BRPC/lib; ")
+#system("sysarch=$(dpkg --print-architecture) ;rm -r ../../..//thirdpartylib/BRPC/lib/lib;unzip ../../../thirdpartylib/BRPC/lib/$sysarch/lib.zip -d ../../..//thirdpartylib/BRPC/lib; ")
 
 INCLUDEPATH += $$PWD/../../../thirdpartylib/BRPC/include
 LIBS += -L$$PWD/../../../thirdpartylib/BRPC/lib/lib -lbrpc

src/driver/driver_rpc_client/echo.pb.h

@@ -1,44 +1,66 @@
 // Generated by the protocol buffer compiler.  DO NOT EDIT!
 // source: echo.proto
 
-#ifndef PROTOBUF_echo_2eproto__INCLUDED
-#define PROTOBUF_echo_2eproto__INCLUDED
+#ifndef PROTOBUF_INCLUDED_echo_2eproto
+#define PROTOBUF_INCLUDED_echo_2eproto
 
 #include <string>
 
 #include <google/protobuf/stubs/common.h>
 
-#if GOOGLE_PROTOBUF_VERSION < 3000000
+#if GOOGLE_PROTOBUF_VERSION < 3006001
 #error This file was generated by a newer version of protoc which is
 #error incompatible with your Protocol Buffer headers.  Please update
 #error your headers.
 #endif
-#if 3000000 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
+#if 3006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
 #error This file was generated by an older version of protoc which is
 #error incompatible with your Protocol Buffer headers.  Please
 #error regenerate this file with a newer version of protoc.
 #endif
 
+#include <google/protobuf/io/coded_stream.h>
 #include <google/protobuf/arena.h>
 #include <google/protobuf/arenastring.h>
+#include <google/protobuf/generated_message_table_driven.h>
 #include <google/protobuf/generated_message_util.h>
+#include <google/protobuf/inlined_string_field.h>
 #include <google/protobuf/metadata.h>
 #include <google/protobuf/message.h>
-#include <google/protobuf/repeated_field.h>
-#include <google/protobuf/extension_set.h>
+#include <google/protobuf/repeated_field.h>  // IWYU pragma: export
+#include <google/protobuf/extension_set.h>  // IWYU pragma: export
 #include <google/protobuf/service.h>
 #include <google/protobuf/unknown_field_set.h>
 // @@protoc_insertion_point(includes)
-
+#define PROTOBUF_INTERNAL_EXPORT_protobuf_echo_2eproto 
+
+namespace protobuf_echo_2eproto {
+// Internal implementation detail -- do not use these members.
+struct TableStruct {
+  static const ::google::protobuf::internal::ParseTableField entries[];
+  static const ::google::protobuf::internal::AuxillaryParseTableField aux[];
+  static const ::google::protobuf::internal::ParseTable schema[2];
+  static const ::google::protobuf::internal::FieldMetadata field_metadata[];
+  static const ::google::protobuf::internal::SerializationTable serialization_table[];
+  static const ::google::protobuf::uint32 offsets[];
+};
+void AddDescriptors();
+}  // namespace protobuf_echo_2eproto
 namespace iv {
-
-// Internal implementation detail -- do not call these.
-void protobuf_AddDesc_echo_2eproto();
-void protobuf_AssignDesc_echo_2eproto();
-void protobuf_ShutdownFile_echo_2eproto();
-
 class EchoRequest;
+class EchoRequestDefaultTypeInternal;
+extern EchoRequestDefaultTypeInternal _EchoRequest_default_instance_;
 class EchoResponse;
+class EchoResponseDefaultTypeInternal;
+extern EchoResponseDefaultTypeInternal _EchoResponse_default_instance_;
+}  // namespace iv
+namespace google {
+namespace protobuf {
+template<> ::iv::EchoRequest* Arena::CreateMaybeMessage<::iv::EchoRequest>(Arena*);
+template<> ::iv::EchoResponse* Arena::CreateMaybeMessage<::iv::EchoResponse>(Arena*);
+}  // namespace protobuf
+}  // namespace google
+namespace iv {
 
 // ===================================================================
 
@@ -53,11 +75,24 @@ class EchoRequest : public ::google::protobuf::Message /* @@protoc_insertion_poi
     CopyFrom(from);
     return *this;
   }
+  #if LANG_CXX11
+  EchoRequest(EchoRequest&& from) noexcept
+    : EchoRequest() {
+    *this = ::std::move(from);
+  }
 
+  inline EchoRequest& operator=(EchoRequest&& from) noexcept {
+    if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) {
+      if (this != &from) InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+  #endif
   inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
     return _internal_metadata_.unknown_fields();
   }
-
   inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
     return _internal_metadata_.mutable_unknown_fields();
   }
@@ -65,46 +100,59 @@ class EchoRequest : public ::google::protobuf::Message /* @@protoc_insertion_poi
   static const ::google::protobuf::Descriptor* descriptor();
   static const EchoRequest& default_instance();
 
+  static void InitAsDefaultInstance();  // FOR INTERNAL USE ONLY
+  static inline const EchoRequest* internal_default_instance() {
+    return reinterpret_cast<const EchoRequest*>(
+               &_EchoRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    0;
+
   void Swap(EchoRequest* other);
+  friend void swap(EchoRequest& a, EchoRequest& b) {
+    a.Swap(&b);
+  }
 
   // implements Message ----------------------------------------------
 
-  inline EchoRequest* New() const { return New(NULL); }
+  inline EchoRequest* New() const final {
+    return CreateMaybeMessage<EchoRequest>(NULL);
+  }
 
-  EchoRequest* New(::google::protobuf::Arena* arena) const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
+  EchoRequest* New(::google::protobuf::Arena* arena) const final {
+    return CreateMaybeMessage<EchoRequest>(arena);
+  }
+  void CopyFrom(const ::google::protobuf::Message& from) final;
+  void MergeFrom(const ::google::protobuf::Message& from) final;
   void CopyFrom(const EchoRequest& from);
   void MergeFrom(const EchoRequest& from);
-  void Clear();
-  bool IsInitialized() const;
+  void Clear() final;
+  bool IsInitialized() const final;
 
-  int ByteSize() const;
+  size_t ByteSizeLong() const final;
   bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
+      ::google::protobuf::io::CodedInputStream* input) final;
   void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
+      ::google::protobuf::io::CodedOutputStream* output) const final;
   ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
-      bool deterministic, ::google::protobuf::uint8* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const {
-    return InternalSerializeWithCachedSizesToArray(false, output);
-  }
-  int GetCachedSize() const { return _cached_size_; }
+      bool deterministic, ::google::protobuf::uint8* target) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
   private:
   void SharedCtor();
   void SharedDtor();
-  void SetCachedSize(int size) const;
+  void SetCachedSize(int size) const final;
   void InternalSwap(EchoRequest* other);
   private:
   inline ::google::protobuf::Arena* GetArenaNoVirtual() const {
-    return _internal_metadata_.arena();
+    return NULL;
   }
   inline void* MaybeArenaPtr() const {
-    return _internal_metadata_.raw_arena_ptr();
+    return NULL;
   }
   public:
 
-  ::google::protobuf::Metadata GetMetadata() const;
+  ::google::protobuf::Metadata GetMetadata() const final;
 
   // nested types ----------------------------------------------------
 
@@ -116,12 +164,30 @@ class EchoRequest : public ::google::protobuf::Message /* @@protoc_insertion_poi
   static const int kMsgnameFieldNumber = 1;
   const ::std::string& msgname() const;
   void set_msgname(const ::std::string& value);
+  #if LANG_CXX11
+  void set_msgname(::std::string&& value);
+  #endif
   void set_msgname(const char* value);
   void set_msgname(const char* value, size_t size);
   ::std::string* mutable_msgname();
   ::std::string* release_msgname();
   void set_allocated_msgname(::std::string* msgname);
 
+  // optional bytes xdata = 4;
+  bool has_xdata() const;
+  void clear_xdata();
+  static const int kXdataFieldNumber = 4;
+  const ::std::string& xdata() const;
+  void set_xdata(const ::std::string& value);
+  #if LANG_CXX11
+  void set_xdata(::std::string&& value);
+  #endif
+  void set_xdata(const char* value);
+  void set_xdata(const void* value, size_t size);
+  ::std::string* mutable_xdata();
+  ::std::string* release_xdata();
+  void set_allocated_xdata(::std::string* xdata);
+
   // required int64 index = 2;
   bool has_index() const;
   void clear_index();
@@ -136,45 +202,28 @@ class EchoRequest : public ::google::protobuf::Message /* @@protoc_insertion_poi
   ::google::protobuf::int32 nlen() const;
   void set_nlen(::google::protobuf::int32 value);
 
-  // optional bytes xdata = 4;
-  bool has_xdata() const;
-  void clear_xdata();
-  static const int kXdataFieldNumber = 4;
-  const ::std::string& xdata() const;
-  void set_xdata(const ::std::string& value);
-  void set_xdata(const char* value);
-  void set_xdata(const void* value, size_t size);
-  ::std::string* mutable_xdata();
-  ::std::string* release_xdata();
-  void set_allocated_xdata(::std::string* xdata);
-
   // @@protoc_insertion_point(class_scope:iv.EchoRequest)
  private:
-  inline void set_has_msgname();
-  inline void clear_has_msgname();
-  inline void set_has_index();
-  inline void clear_has_index();
-  inline void set_has_nlen();
-  inline void clear_has_nlen();
-  inline void set_has_xdata();
-  inline void clear_has_xdata();
-
-  // helper for ByteSize()
-  int RequiredFieldsByteSizeFallback() const;
+  void set_has_msgname();
+  void clear_has_msgname();
+  void set_has_index();
+  void clear_has_index();
+  void set_has_nlen();
+  void clear_has_nlen();
+  void set_has_xdata();
+  void clear_has_xdata();
+
+  // helper for ByteSizeLong()
+  size_t RequiredFieldsByteSizeFallback() const;
 
   ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
-  ::google::protobuf::uint32 _has_bits_[1];
-  mutable int _cached_size_;
+  ::google::protobuf::internal::HasBits<1> _has_bits_;
+  mutable ::google::protobuf::internal::CachedSize _cached_size_;
   ::google::protobuf::internal::ArenaStringPtr msgname_;
-  ::google::protobuf::int64 index_;
   ::google::protobuf::internal::ArenaStringPtr xdata_;
+  ::google::protobuf::int64 index_;
   ::google::protobuf::int32 nlen_;
-  friend void  protobuf_AddDesc_echo_2eproto();
-  friend void protobuf_AssignDesc_echo_2eproto();
-  friend void protobuf_ShutdownFile_echo_2eproto();
-
-  void InitAsDefaultInstance();
-  static EchoRequest* default_instance_;
+  friend struct ::protobuf_echo_2eproto::TableStruct;
 };
 // -------------------------------------------------------------------
 
@@ -189,11 +238,24 @@ class EchoResponse : public ::google::protobuf::Message /* @@protoc_insertion_po
     CopyFrom(from);
     return *this;
   }
+  #if LANG_CXX11
+  EchoResponse(EchoResponse&& from) noexcept
+    : EchoResponse() {
+    *this = ::std::move(from);
+  }
 
+  inline EchoResponse& operator=(EchoResponse&& from) noexcept {
+    if (GetArenaNoVirtual() == from.GetArenaNoVirtual()) {
+      if (this != &from) InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+  #endif
   inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
     return _internal_metadata_.unknown_fields();
   }
-
   inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
     return _internal_metadata_.mutable_unknown_fields();
   }
@@ -201,46 +263,59 @@ class EchoResponse : public ::google::protobuf::Message /* @@protoc_insertion_po
   static const ::google::protobuf::Descriptor* descriptor();
   static const EchoResponse& default_instance();
 
+  static void InitAsDefaultInstance();  // FOR INTERNAL USE ONLY
+  static inline const EchoResponse* internal_default_instance() {
+    return reinterpret_cast<const EchoResponse*>(
+               &_EchoResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    1;
+
   void Swap(EchoResponse* other);
+  friend void swap(EchoResponse& a, EchoResponse& b) {
+    a.Swap(&b);
+  }
 
   // implements Message ----------------------------------------------
 
-  inline EchoResponse* New() const { return New(NULL); }
+  inline EchoResponse* New() const final {
+    return CreateMaybeMessage<EchoResponse>(NULL);
+  }
 
-  EchoResponse* New(::google::protobuf::Arena* arena) const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
+  EchoResponse* New(::google::protobuf::Arena* arena) const final {
+    return CreateMaybeMessage<EchoResponse>(arena);
+  }
+  void CopyFrom(const ::google::protobuf::Message& from) final;
+  void MergeFrom(const ::google::protobuf::Message& from) final;
   void CopyFrom(const EchoResponse& from);
   void MergeFrom(const EchoResponse& from);
-  void Clear();
-  bool IsInitialized() const;
+  void Clear() final;
+  bool IsInitialized() const final;
 
-  int ByteSize() const;
+  size_t ByteSizeLong() const final;
   bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
+      ::google::protobuf::io::CodedInputStream* input) final;
   void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
+      ::google::protobuf::io::CodedOutputStream* output) const final;
   ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
-      bool deterministic, ::google::protobuf::uint8* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const {
-    return InternalSerializeWithCachedSizesToArray(false, output);
-  }
-  int GetCachedSize() const { return _cached_size_; }
+      bool deterministic, ::google::protobuf::uint8* target) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
   private:
   void SharedCtor();
   void SharedDtor();
-  void SetCachedSize(int size) const;
+  void SetCachedSize(int size) const final;
   void InternalSwap(EchoResponse* other);
   private:
   inline ::google::protobuf::Arena* GetArenaNoVirtual() const {
-    return _internal_metadata_.arena();
+    return NULL;
   }
   inline void* MaybeArenaPtr() const {
-    return _internal_metadata_.raw_arena_ptr();
+    return NULL;
   }
   public:
 
-  ::google::protobuf::Metadata GetMetadata() const;
+  ::google::protobuf::Metadata GetMetadata() const final;
 
   // nested types ----------------------------------------------------
 
@@ -252,6 +327,9 @@ class EchoResponse : public ::google::protobuf::Message /* @@protoc_insertion_po
   static const int kMsgnameFieldNumber = 1;
   const ::std::string& msgname() const;
   void set_msgname(const ::std::string& value);
+  #if LANG_CXX11
+  void set_msgname(::std::string&& value);
+  #endif
   void set_msgname(const char* value);
   void set_msgname(const char* value, size_t size);
   ::std::string* mutable_msgname();
@@ -267,25 +345,20 @@ class EchoResponse : public ::google::protobuf::Message /* @@protoc_insertion_po
 
   // @@protoc_insertion_point(class_scope:iv.EchoResponse)
  private:
-  inline void set_has_msgname();
-  inline void clear_has_msgname();
-  inline void set_has_index();
-  inline void clear_has_index();
+  void set_has_msgname();
+  void clear_has_msgname();
+  void set_has_index();
+  void clear_has_index();
 
-  // helper for ByteSize()
-  int RequiredFieldsByteSizeFallback() const;
+  // helper for ByteSizeLong()
+  size_t RequiredFieldsByteSizeFallback() const;
 
   ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
-  ::google::protobuf::uint32 _has_bits_[1];
-  mutable int _cached_size_;
+  ::google::protobuf::internal::HasBits<1> _has_bits_;
+  mutable ::google::protobuf::internal::CachedSize _cached_size_;
   ::google::protobuf::internal::ArenaStringPtr msgname_;
   ::google::protobuf::int64 index_;
-  friend void  protobuf_AddDesc_echo_2eproto();
-  friend void protobuf_AssignDesc_echo_2eproto();
-  friend void protobuf_ShutdownFile_echo_2eproto();
-
-  void InitAsDefaultInstance();
-  static EchoResponse* default_instance_;
+  friend struct ::protobuf_echo_2eproto::TableStruct;
 };
 // ===================================================================
 
@@ -351,7 +424,10 @@ class EchoService_Stub : public EchoService {
 
 // ===================================================================
 
-#if !PROTOBUF_INLINE_NOT_IN_HEADERS
+#ifdef __GNUC__
+  #pragma GCC diagnostic push
+  #pragma GCC diagnostic ignored "-Wstrict-aliasing"
+#endif  // __GNUC__
 // EchoRequest
 
 // required string msgname = 1;
@@ -370,14 +446,23 @@ inline void EchoRequest::clear_msgname() {
 }
 inline const ::std::string& EchoRequest::msgname() const {
   // @@protoc_insertion_point(field_get:iv.EchoRequest.msgname)
-  return msgname_.GetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return msgname_.GetNoArena();
 }
 inline void EchoRequest::set_msgname(const ::std::string& value) {
   set_has_msgname();
   msgname_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
   // @@protoc_insertion_point(field_set:iv.EchoRequest.msgname)
 }
+#if LANG_CXX11
+inline void EchoRequest::set_msgname(::std::string&& value) {
+  set_has_msgname();
+  msgname_.SetNoArena(
+    &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value));
+  // @@protoc_insertion_point(field_set_rvalue:iv.EchoRequest.msgname)
+}
+#endif
 inline void EchoRequest::set_msgname(const char* value) {
+  GOOGLE_DCHECK(value != NULL);
   set_has_msgname();
   msgname_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
   // @@protoc_insertion_point(field_set_char:iv.EchoRequest.msgname)
@@ -395,8 +480,11 @@ inline ::std::string* EchoRequest::mutable_msgname() {
 }
 inline ::std::string* EchoRequest::release_msgname() {
   // @@protoc_insertion_point(field_release:iv.EchoRequest.msgname)
+  if (!has_msgname()) {
+    return NULL;
+  }
   clear_has_msgname();
-  return msgname_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return msgname_.ReleaseNonDefaultNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 inline void EchoRequest::set_allocated_msgname(::std::string* msgname) {
   if (msgname != NULL) {
@@ -410,13 +498,13 @@ inline void EchoRequest::set_allocated_msgname(::std::string* msgname) {
 
 // required int64 index = 2;
 inline bool EchoRequest::has_index() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
+  return (_has_bits_[0] & 0x00000004u) != 0;
 }
 inline void EchoRequest::set_has_index() {
-  _has_bits_[0] |= 0x00000002u;
+  _has_bits_[0] |= 0x00000004u;
 }
 inline void EchoRequest::clear_has_index() {
-  _has_bits_[0] &= ~0x00000002u;
+  _has_bits_[0] &= ~0x00000004u;
 }
 inline void EchoRequest::clear_index() {
   index_ = GOOGLE_LONGLONG(0);
@@ -434,13 +522,13 @@ inline void EchoRequest::set_index(::google::protobuf::int64 value) {
 
 // required int32 nlen = 3;
 inline bool EchoRequest::has_nlen() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
+  return (_has_bits_[0] & 0x00000008u) != 0;
 }
 inline void EchoRequest::set_has_nlen() {
-  _has_bits_[0] |= 0x00000004u;
+  _has_bits_[0] |= 0x00000008u;
 }
 inline void EchoRequest::clear_has_nlen() {
-  _has_bits_[0] &= ~0x00000004u;
+  _has_bits_[0] &= ~0x00000008u;
 }
 inline void EchoRequest::clear_nlen() {
   nlen_ = 0;
@@ -458,13 +546,13 @@ inline void EchoRequest::set_nlen(::google::protobuf::int32 value) {
 
 // optional bytes xdata = 4;
 inline bool EchoRequest::has_xdata() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
+  return (_has_bits_[0] & 0x00000002u) != 0;
 }
 inline void EchoRequest::set_has_xdata() {
-  _has_bits_[0] |= 0x00000008u;
+  _has_bits_[0] |= 0x00000002u;
 }
 inline void EchoRequest::clear_has_xdata() {
-  _has_bits_[0] &= ~0x00000008u;
+  _has_bits_[0] &= ~0x00000002u;
 }
 inline void EchoRequest::clear_xdata() {
   xdata_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
@@ -472,14 +560,23 @@ inline void EchoRequest::clear_xdata() {
 }
 inline const ::std::string& EchoRequest::xdata() const {
   // @@protoc_insertion_point(field_get:iv.EchoRequest.xdata)
-  return xdata_.GetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return xdata_.GetNoArena();
 }
 inline void EchoRequest::set_xdata(const ::std::string& value) {
   set_has_xdata();
   xdata_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
   // @@protoc_insertion_point(field_set:iv.EchoRequest.xdata)
 }
+#if LANG_CXX11
+inline void EchoRequest::set_xdata(::std::string&& value) {
+  set_has_xdata();
+  xdata_.SetNoArena(
+    &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value));
+  // @@protoc_insertion_point(field_set_rvalue:iv.EchoRequest.xdata)
+}
+#endif
 inline void EchoRequest::set_xdata(const char* value) {
+  GOOGLE_DCHECK(value != NULL);
   set_has_xdata();
   xdata_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
   // @@protoc_insertion_point(field_set_char:iv.EchoRequest.xdata)
@@ -497,8 +594,11 @@ inline ::std::string* EchoRequest::mutable_xdata() {
 }
 inline ::std::string* EchoRequest::release_xdata() {
   // @@protoc_insertion_point(field_release:iv.EchoRequest.xdata)
+  if (!has_xdata()) {
+    return NULL;
+  }
   clear_has_xdata();
-  return xdata_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return xdata_.ReleaseNonDefaultNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 inline void EchoRequest::set_allocated_xdata(::std::string* xdata) {
   if (xdata != NULL) {
@@ -530,14 +630,23 @@ inline void EchoResponse::clear_msgname() {
 }
 inline const ::std::string& EchoResponse::msgname() const {
   // @@protoc_insertion_point(field_get:iv.EchoResponse.msgname)
-  return msgname_.GetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return msgname_.GetNoArena();
 }
 inline void EchoResponse::set_msgname(const ::std::string& value) {
   set_has_msgname();
   msgname_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
   // @@protoc_insertion_point(field_set:iv.EchoResponse.msgname)
 }
+#if LANG_CXX11
+inline void EchoResponse::set_msgname(::std::string&& value) {
+  set_has_msgname();
+  msgname_.SetNoArena(
+    &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value));
+  // @@protoc_insertion_point(field_set_rvalue:iv.EchoResponse.msgname)
+}
+#endif
 inline void EchoResponse::set_msgname(const char* value) {
+  GOOGLE_DCHECK(value != NULL);
   set_has_msgname();
   msgname_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
   // @@protoc_insertion_point(field_set_char:iv.EchoResponse.msgname)
@@ -555,8 +664,11 @@ inline ::std::string* EchoResponse::mutable_msgname() {
 }
 inline ::std::string* EchoResponse::release_msgname() {
   // @@protoc_insertion_point(field_release:iv.EchoResponse.msgname)
+  if (!has_msgname()) {
+    return NULL;
+  }
   clear_has_msgname();
-  return msgname_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  return msgname_.ReleaseNonDefaultNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 inline void EchoResponse::set_allocated_msgname(::std::string* msgname) {
   if (msgname != NULL) {
@@ -592,7 +704,9 @@ inline void EchoResponse::set_index(::google::protobuf::int64 value) {
   // @@protoc_insertion_point(field_set:iv.EchoResponse.index)
 }
 
-#endif  // !PROTOBUF_INLINE_NOT_IN_HEADERS
+#ifdef __GNUC__
+  #pragma GCC diagnostic pop
+#endif  // __GNUC__
 // -------------------------------------------------------------------
 
 
@@ -602,4 +716,4 @@ inline void EchoResponse::set_index(::google::protobuf::int64 value) {
 
 // @@protoc_insertion_point(global_scope)
 
-#endif  // PROTOBUF_echo_2eproto__INCLUDED
+#endif  // PROTOBUF_INCLUDED_echo_2eproto

src/driver/driver_rpc_client/main.cpp

@@ -65,11 +65,13 @@ void ListenData(const char * strdata,const unsigned int nSize,const unsigned int
 //            << ": " << response.msgname()
 //            << " latency=" << cntl.latency_us() << "us"<<std::endl;
 
+            std::cout<<"latency="<<cntl.latency_us()<<std::endl;
         givlog->warn("CLIENTRES","msgname is %s latency=%dus",response.msgname().data(),
                      cntl.latency_us());
         }
         else
         {
+            std::cout<<" latency: "<<cntl.latency_us()<<std::endl;
             givlog->verbose("CLIENTRES","msgname is %s latency=%dus",response.msgname().data(),
                          cntl.latency_us());
         }

src/driver/driver_rpc_server/driver_rpc_server.pro

@@ -26,7 +26,7 @@ SOURCES += main.cpp \
 HEADERS += \
     echo.pb.h
 
-system("sysarch=$(dpkg --print-architecture) ;rm -r ../../..//thirdpartylib/BRPC/lib/lib;unzip ../../../thirdpartylib/BRPC/lib/$sysarch/lib.zip -d ../../..//thirdpartylib/BRPC/lib; ")
+#system("sysarch=$(dpkg --print-architecture) ;rm -r ../../..//thirdpartylib/BRPC/lib/lib;unzip ../../../thirdpartylib/BRPC/lib/$sysarch/lib.zip -d ../../..//thirdpartylib/BRPC/lib; ")
 
 INCLUDEPATH += $$PWD/../../../thirdpartylib/BRPC/include
 LIBS += -L$$PWD/../../../thirdpartylib/BRPC/lib/lib -lbrpc