pw_rpc/docs.rst - pigweed/pigweed - Git at Google

 .. default-domain:: cpp

 .. highlight:: sh

 .. _chapter-pw-rpc:

 ------
 pw_rpc
 ------
 The ``pw_rpc`` module provides a system for defining and invoking remote
 procedure calls (RPCs) on a device.

 .. attention::

   Under construction.

 Services
 ========
 A service is a logical grouping of RPCs defined within a .proto file. ``pw_rpc``
 uses these .proto definitions to generate code for a base service, from which
 user-defined RPCs are implemented.

 ``pw_rpc`` supports multiple protobuf libraries, and the generated code API
 depends on which is used.

 .. toctree::
   :maxdepth: 1

   nanopb/docs

 Testing a pw_rpc integration
 ============================
 After setting up a ``pw_rpc`` server in your project, you can test that it is
 working as intended by registering the provided ``EchoService``, defined in
 ``pw_rpc_protos/echo.proto``, which echoes back a message that it receives.

 .. literalinclude:: pw_rpc_protos/echo.proto
   :language: protobuf
   :lines: 14-

 For example, in C++ with nanopb:

 .. code:: c++

   #include "pw_rpc/server.h"

   // Include the apporpriate header for your protobuf library.
   #include "pw_rpc/echo_service_nanopb.h"

   constexpr pw::rpc::Channel kChannels[] = { /* ... */ };
   static pw::rpc::Server server(kChannels);

   static pw::rpc::EchoService echo_service;

   void Init() {
     server.RegisterService(&echo_service);
   }

 Protocol description
 ====================
 Pigweed RPC servers and clients communicate using ``pw_rpc`` packets. These
 packets are used to send requests and responses, control streams, cancel ongoing
 RPCs, and report errors.

 Packet format
 -------------
 Pigweed RPC packets consist of a type and a set of fields. The packets are
 encoded as protocol buffers. The full packet format is described in
 ``pw_rpc/pw_rpc_protos/packet.proto``.

 .. literalinclude:: pw_rpc_protos/packet.proto
   :language: protobuf
   :lines: 14-

 The packet type and RPC type determine which fields are present in a Pigweed RPC
 packet. Each packet type is only sent by either the client or the server.
 These tables describe the meaning of and fields included with each packet type.

 Client-to-server packets
 ^^^^^^^^^^^^^^^^^^^^^^^^
 +---------------------------+----------------------------------+
 | packet type               | description                      |
 +===========================+==================================+
 | REQUEST                   | RPC request                      |
 |                           |                                  |
 |                           | .. code-block:: text             |
 |                           |                                  |
 |                           |   - channel_id                   |
 |                           |   - service_id                   |
 |                           |   - method_id                    |
 |                           |   - payload                      |
 |                           |     (unless first client stream) |
 |                           |                                  |
 +---------------------------+----------------------------------+
 | CLIENT_STREAM_END         | Client stream finished           |
 |                           |                                  |
 |                           | .. code-block:: text             |
 |                           |                                  |
 |                           |   - channel_id                   |
 |                           |   - service_id                   |
 |                           |   - method_id                    |
 |                           |                                  |
 |                           |                                  |
 +---------------------------+----------------------------------+
 | CLIENT_ERROR              | Received unexpected packet       |
 |                           |                                  |
 |                           | .. code-block:: text             |
 |                           |                                  |
 |                           |   - channel_id                   |
 |                           |   - service_id                   |
 |                           |   - method_id                    |
 |                           |   - status                       |
 +---------------------------+----------------------------------+
 | CANCEL_SERVER_STREAM      | Cancel a server stream           |
 |                           |                                  |
 |                           | .. code-block:: text             |
 |                           |                                  |
 |                           |   - channel_id                   |
 |                           |   - service_id                   |
 |                           |   - method_id                    |
 |                           |                                  |
 +---------------------------+----------------------------------+

 **Errors**

 The client sends ``CLIENT_ERROR`` packets to a server when it receives a packet
 it did not request. If the RPC is a streaming RPC, the server should abort it.

 The status code indicates the type of error. If the client does not distinguish
 between the error types, it can send whichever status is most relevant. The
 status code is logged, but all status codes result in the same action by the
 server: aborting the RPC.

 * ``NOT_FOUND`` -- Received a packet for a service method the client does not
   recognize.
 * ``FAILED_PRECONDITION`` -- Received a packet for a service method that the
   client did not invoke.

 Server-to-client packets
 ^^^^^^^^^^^^^^^^^^^^^^^^
 +-------------------+--------------------------------+
 | packet type       | description                    |
 +===================+================================+
 | RESPONSE          | RPC response                   |
 |                   |                                |
 |                   | .. code-block:: text           |
 |                   |                                |
 |                   |   - channel_id                 |
 |                   |   - service_id                 |
 |                   |   - method_id                  |
 |                   |   - payload                    |
 |                   |   - status                     |
 |                   |     (unless in server stream)  |
 +-------------------+--------------------------------+
 | SERVER_STREAM_END | Server stream and RPC finished |
 |                   |                                |
 |                   | .. code-block:: text           |
 |                   |                                |
 |                   |   - channel_id                 |
 |                   |   - service_id                 |
 |                   |   - method_id                  |
 |                   |   - status                     |
 +-------------------+--------------------------------+
 | SERVER_ERROR      | Received unexpected packet     |
 |                   |                                |
 |                   | .. code-block:: text           |
 |                   |                                |
 |                   |   - channel_id                 |
 |                   |   - service_id (if relevant)   |
 |                   |   - method_id (if relevant)    |
 |                   |   - status                     |
 +-------------------+--------------------------------+

 **Errors**

 The server sends ``SERVER_ERROR`` packets when it receives a packet it cannot
 process. The client should abort any RPC for which it receives an error. The
 status field indicates the type of error.

 * ``NOT_FOUND`` -- The requested service or method does not exist.
 * ``FAILED_PRECONDITION`` -- Attempted to cancel an RPC that is not pending.
 * ``RESOURCE_EXHAUSTED`` -- The request came on a new channel, but a channel
   could not be allocated for it.
 * ``INTERNAL`` -- The server was unable to respond to an RPC due to an
   unrecoverable internal error.

 Inovking a service method
 -------------------------
 Calling an RPC requires a specific sequence of packets. This section describes
 the protocol for calling service methods of each type: unary, server streaming,
 client streaming, and bidirectional streaming.

 Unary RPC
 ^^^^^^^^^
 In a unary RPC, the client sends a single request and the server sends a single
 response.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "request",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <- server [
         label = "response",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
     ];
   }

 Server streaming RPC
 ^^^^^^^^^^^^^^^^^^^^
 In a server streaming RPC, the client sends a single request and the server
 sends any number of responses followed by a ``SERVER_STREAM_END`` packet.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "request",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <-- server [
         noactivate,
         label = "responses (zero or more)",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <- server [
         label = "done",
         rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
     ];
   }

 Server streaming RPCs may be cancelled by the client. The client sends a
 ``CANCEL_SERVER_STREAM`` packet to terminate the RPC.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "request",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <-- server [
         noactivate,
         label = "responses (zero or more)",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client -> server [
         noactivate,
         label = "cancel",
         leftnote  = "PacketType.CANCEL_SERVER_STREAM\nchannel ID\nservice ID\nmethod ID"
     ];

     client <- server [
         label = "done",
         rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
     ];
   }

 Client streaming RPC
 ^^^^^^^^^^^^^^^^^^^^
 In a client streaming RPC, the client sends any number of RPC requests followed
 by a ``CLIENT_STREAM_END`` packet. The server then sends a single response.

 The first client-to-server RPC packet does not include a payload.

 .. attention::

   ``pw_rpc`` does not yet support client streaming RPCs.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "start",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
     ];

     client --> server [
         noactivate,
         label = "requests (zero or more)",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client -> server [
         noactivate,
         label = "done",
         leftnote = "PacketType.CLIENT_STREAM_END\nchannel ID\nservice ID\nmethod ID"
     ];

     client <- server [
         label = "response",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
     ];
   }

 The server may terminate a client streaming RPC at any time by sending its
 response packet.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "start",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
     ];

     client --> server [
         noactivate,
         label = "requests (zero or more)",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <- server [
         label = "response",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
     ];
   }

 Bidirectional streaming RPC
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 In a bidirectional streaming RPC, the client sends any number of requests and
 the server sends any number of responses. The client sends a
 ``CLIENT_STREAM_END`` packet when it has finished sending requests. The server
 sends a ``SERVER_STREAM_END`` packet after it receives the client's
 ``CLIENT_STREAM_END`` and finished sending its responses.

 The first client-to-server RPC packet does not include a payload.

 .. attention::

   ``pw_rpc`` does not yet support bidirectional streaming RPCs.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "start",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
     ];

     client --> server [
         noactivate,
         label = "requests (zero or more)",
         leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     ... (messages in any order) ...

     client <-- server [
         noactivate,
         label = "responses (zero or more)",
         rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client -> server [
         noactivate,
         label = "done",
         leftnote = "PacketType.CLIENT_STREAM_END\nchannel ID\nservice ID\nmethod ID"
     ];

     client <-- server [
         noactivate,
         label = "responses (zero or more)",
         rightnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <- server [
         label = "done",
         rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
     ];
   }

 The server may terminate the RPC at any time by sending a ``SERVER_STREAM_END``
 packet with the status, even if the client has not sent its ``STREAM_END``. The
 client may cancel the RPC at any time by sending a ``CANCEL_SERVER_STREAM``
 packet.

 .. seqdiag::
   :scale: 110

   seqdiag {
     default_note_color = aliceblue;

     client -> server [
         label = "start",
         leftnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID"
     ];

     client --> server [
         noactivate,
         label = "requests (zero or more)",
         leftnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client <-- server [
         noactivate,
         label = "responses (zero or more)",
         rightnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
     ];

     client -> server [
         noactivate,
         label = "cancel",
         leftnote = "PacketType.CANCEL_SERVER_STREAM\nchannel ID\nservice ID\nmethod ID"
     ];

     client <- server [
         label = "done",
         rightnote = "PacketType.STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
     ];
   }

 RPC server
 ==========
 Declare an instance of ``rpc::Server`` and register services with it.

 .. admonition:: TODO

   Document the public interface

 RPC server implementation
 -------------------------

 The Method class
 ^^^^^^^^^^^^^^^^
 The RPC Server depends on the ``pw::rpc::internal::Method`` class. ``Method``
 serves as the bridge between the ``pw_rpc`` server library and the user-defined
 RPC functions. ``Method`` takes an RPC packet, decodes it using a protobuf
 library (if applicable), and calls the RPC function. Since ``Method`` interacts
 directly with the protobuf library, it must be implemented separately for each
 protobuf library.

 ``pw::rpc::internal::Method`` is not implemented as a facade with different
 backends. Instead, there is a separate instance of the ``pw_rpc`` server library
 for each ``Method`` implementation. There are a few reasons for this.

 * ``Method`` is entirely internal to ``pw_rpc``. Users will never implement a
   custom backend. Exposing a facade would unnecessarily expose implementation
   details and make ``pw_rpc`` more difficult to use.
 * There is no common interface between ``pw_rpc`` / ``Method`` implementations.
   It's not possible to swap between e.g. a Nanopb and a ``pw_protobuf`` RPC
   server because the interface for the user-implemented RPCs changes completely.
   This nullifies the primary benefit of facades.
 * The different ``Method`` implementations can be built easily alongside one
   another in a cross-platform way. This makes testing simpler, since the tests
   build with any backend configuration. Users can select which ``Method``
   implementation to use simply by depending on the corresponding server library.

 Packet flow
 ^^^^^^^^^^^

 Requests
 ~~~~~~~~

 .. blockdiag::

   blockdiag {
     packets [shape = beginpoint];

     group {
       label = "pw_rpc library";

       server [label = "Server"];
       service [label = "Service"];
       method [label = "internal::Method"];
     }

     stubs [label = "generated services", shape = ellipse];
     user [label = "user-defined RPCs", shape = roundedbox];

     packets -> server -> service -> method -> stubs -> user;
     packets -> server [folded];
     method -> stubs [folded];
   }

 Responses
 ~~~~~~~~~

 .. blockdiag::

   blockdiag {
     user -> stubs [folded];

     group {
       label = "pw_rpc library";

       server [label = "Server"];
       method [label = "internal::Method"];
       channel [label = "Channel"];
     }

     stubs [label = "generated services", shape = ellipse];
     user [label = "user-defined RPCs", shape = roundedbox];
     packets [shape = beginpoint];

     user -> stubs -> method [folded];
     method -> server -> channel;
     channel -> packets [folded];
   }
	.. default-domain:: cpp

	.. highlight:: sh

	.. _chapter-pw-rpc:

	------
	pw_rpc
	------
	The ``pw_rpc`` module provides a system for defining and invoking remote
	procedure calls (RPCs) on a device.

	.. attention::

	Under construction.

	Services
	========
	A service is a logical grouping of RPCs defined within a .proto file. ``pw_rpc``
	uses these .proto definitions to generate code for a base service, from which
	user-defined RPCs are implemented.

	``pw_rpc`` supports multiple protobuf libraries, and the generated code API
	depends on which is used.

	.. toctree::
	:maxdepth: 1

	nanopb/docs

	Testing a pw_rpc integration
	============================
	After setting up a ``pw_rpc`` server in your project, you can test that it is
	working as intended by registering the provided ``EchoService``, defined in
	``pw_rpc_protos/echo.proto``, which echoes back a message that it receives.

	.. literalinclude:: pw_rpc_protos/echo.proto
	:language: protobuf
	:lines: 14-

	For example, in C++ with nanopb:

	.. code:: c++

	#include "pw_rpc/server.h"

	// Include the apporpriate header for your protobuf library.
	#include "pw_rpc/echo_service_nanopb.h"

	constexpr pw::rpc::Channel kChannels[] = { /* ... */ };
	static pw::rpc::Server server(kChannels);

	static pw::rpc::EchoService echo_service;

	void Init() {
	server.RegisterService(&echo_service);
	}

	Protocol description
	====================
	Pigweed RPC servers and clients communicate using ``pw_rpc`` packets. These
	packets are used to send requests and responses, control streams, cancel ongoing
	RPCs, and report errors.

	Packet format
	-------------
	Pigweed RPC packets consist of a type and a set of fields. The packets are
	encoded as protocol buffers. The full packet format is described in
	``pw_rpc/pw_rpc_protos/packet.proto``.

	.. literalinclude:: pw_rpc_protos/packet.proto
	:language: protobuf
	:lines: 14-

	The packet type and RPC type determine which fields are present in a Pigweed RPC
	packet. Each packet type is only sent by either the client or the server.
	These tables describe the meaning of and fields included with each packet type.

	Client-to-server packets
	^^^^^^^^^^^^^^^^^^^^^^^^
	+---------------------------+----------------------------------+
	\| packet type \| description \|
	+===========================+==================================+
	\| REQUEST \| RPC request \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| - payload \|
	\| \| (unless first client stream) \|
	\| \| \|
	+---------------------------+----------------------------------+
	\| CLIENT_STREAM_END \| Client stream finished \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| \|
	\| \| \|
	+---------------------------+----------------------------------+
	\| CLIENT_ERROR \| Received unexpected packet \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| - status \|
	+---------------------------+----------------------------------+
	\| CANCEL_SERVER_STREAM \| Cancel a server stream \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| \|
	+---------------------------+----------------------------------+

	Errors

	The client sends ``CLIENT_ERROR`` packets to a server when it receives a packet
	it did not request. If the RPC is a streaming RPC, the server should abort it.

	The status code indicates the type of error. If the client does not distinguish
	between the error types, it can send whichever status is most relevant. The
	status code is logged, but all status codes result in the same action by the
	server: aborting the RPC.

	* ``NOT_FOUND`` -- Received a packet for a service method the client does not
	recognize.
	* ``FAILED_PRECONDITION`` -- Received a packet for a service method that the
	client did not invoke.

	Server-to-client packets
	^^^^^^^^^^^^^^^^^^^^^^^^
	+-------------------+--------------------------------+
	\| packet type \| description \|
	+===================+================================+
	\| RESPONSE \| RPC response \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| - payload \|
	\| \| - status \|
	\| \| (unless in server stream) \|
	+-------------------+--------------------------------+
	\| SERVER_STREAM_END \| Server stream and RPC finished \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id \|
	\| \| - method_id \|
	\| \| - status \|
	+-------------------+--------------------------------+
	\| SERVER_ERROR \| Received unexpected packet \|
	\| \| \|
	\| \| .. code-block:: text \|
	\| \| \|
	\| \| - channel_id \|
	\| \| - service_id (if relevant) \|
	\| \| - method_id (if relevant) \|
	\| \| - status \|
	+-------------------+--------------------------------+

	Errors

	The server sends ``SERVER_ERROR`` packets when it receives a packet it cannot
	process. The client should abort any RPC for which it receives an error. The
	status field indicates the type of error.

	* ``NOT_FOUND`` -- The requested service or method does not exist.
	* ``FAILED_PRECONDITION`` -- Attempted to cancel an RPC that is not pending.
	* ``RESOURCE_EXHAUSTED`` -- The request came on a new channel, but a channel
	could not be allocated for it.
	* ``INTERNAL`` -- The server was unable to respond to an RPC due to an
	unrecoverable internal error.

	Inovking a service method
	-------------------------
	Calling an RPC requires a specific sequence of packets. This section describes
	the protocol for calling service methods of each type: unary, server streaming,
	client streaming, and bidirectional streaming.

	Unary RPC
	^^^^^^^^^
	In a unary RPC, the client sends a single request and the server sends a single
	response.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "request",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <- server [
	label = "response",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
	];
	}

	Server streaming RPC
	^^^^^^^^^^^^^^^^^^^^
	In a server streaming RPC, the client sends a single request and the server
	sends any number of responses followed by a ``SERVER_STREAM_END`` packet.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "request",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <-- server [
	noactivate,
	label = "responses (zero or more)",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <- server [
	label = "done",
	rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
	];
	}

	Server streaming RPCs may be cancelled by the client. The client sends a
	``CANCEL_SERVER_STREAM`` packet to terminate the RPC.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "request",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <-- server [
	noactivate,
	label = "responses (zero or more)",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client -> server [
	noactivate,
	label = "cancel",
	leftnote = "PacketType.CANCEL_SERVER_STREAM\nchannel ID\nservice ID\nmethod ID"
	];

	client <- server [
	label = "done",
	rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
	];
	}

	Client streaming RPC
	^^^^^^^^^^^^^^^^^^^^
	In a client streaming RPC, the client sends any number of RPC requests followed
	by a ``CLIENT_STREAM_END`` packet. The server then sends a single response.

	The first client-to-server RPC packet does not include a payload.

	.. attention::

	``pw_rpc`` does not yet support client streaming RPCs.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "start",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
	];

	client --> server [
	noactivate,
	label = "requests (zero or more)",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client -> server [
	noactivate,
	label = "done",
	leftnote = "PacketType.CLIENT_STREAM_END\nchannel ID\nservice ID\nmethod ID"
	];

	client <- server [
	label = "response",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
	];
	}

	The server may terminate a client streaming RPC at any time by sending its
	response packet.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "start",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
	];

	client --> server [
	noactivate,
	label = "requests (zero or more)",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <- server [
	label = "response",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload\nstatus"
	];
	}

	Bidirectional streaming RPC
	^^^^^^^^^^^^^^^^^^^^^^^^^^^
	In a bidirectional streaming RPC, the client sends any number of requests and
	the server sends any number of responses. The client sends a
	``CLIENT_STREAM_END`` packet when it has finished sending requests. The server
	sends a ``SERVER_STREAM_END`` packet after it receives the client's
	``CLIENT_STREAM_END`` and finished sending its responses.

	The first client-to-server RPC packet does not include a payload.

	.. attention::

	``pw_rpc`` does not yet support bidirectional streaming RPCs.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "start",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID"
	];

	client --> server [
	noactivate,
	label = "requests (zero or more)",
	leftnote = "PacketType.REQUEST\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	... (messages in any order) ...

	client <-- server [
	noactivate,
	label = "responses (zero or more)",
	rightnote = "PacketType.RESPONSE\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client -> server [
	noactivate,
	label = "done",
	leftnote = "PacketType.CLIENT_STREAM_END\nchannel ID\nservice ID\nmethod ID"
	];

	client <-- server [
	noactivate,
	label = "responses (zero or more)",
	rightnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <- server [
	label = "done",
	rightnote = "PacketType.SERVER_STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
	];
	}

	The server may terminate the RPC at any time by sending a ``SERVER_STREAM_END``
	packet with the status, even if the client has not sent its ``STREAM_END``. The
	client may cancel the RPC at any time by sending a ``CANCEL_SERVER_STREAM``
	packet.

	.. seqdiag::
	:scale: 110

	seqdiag {
	default_note_color = aliceblue;

	client -> server [
	label = "start",
	leftnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID"
	];

	client --> server [
	noactivate,
	label = "requests (zero or more)",
	leftnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client <-- server [
	noactivate,
	label = "responses (zero or more)",
	rightnote = "PacketType.RPC\nchannel ID\nservice ID\nmethod ID\npayload"
	];

	client -> server [
	noactivate,
	label = "cancel",
	leftnote = "PacketType.CANCEL_SERVER_STREAM\nchannel ID\nservice ID\nmethod ID"
	];

	client <- server [
	label = "done",
	rightnote = "PacketType.STREAM_END\nchannel ID\nservice ID\nmethod ID\nstatus"
	];
	}

	RPC server
	==========
	Declare an instance of ``rpc::Server`` and register services with it.

	.. admonition:: TODO

	Document the public interface

	RPC server implementation
	-------------------------

	The Method class
	^^^^^^^^^^^^^^^^
	The RPC Server depends on the ``pw::rpc::internal::Method`` class. ``Method``
	serves as the bridge between the ``pw_rpc`` server library and the user-defined
	RPC functions. ``Method`` takes an RPC packet, decodes it using a protobuf
	library (if applicable), and calls the RPC function. Since ``Method`` interacts
	directly with the protobuf library, it must be implemented separately for each
	protobuf library.

	``pw::rpc::internal::Method`` is not implemented as a facade with different
	backends. Instead, there is a separate instance of the ``pw_rpc`` server library
	for each ``Method`` implementation. There are a few reasons for this.

	* ``Method`` is entirely internal to ``pw_rpc``. Users will never implement a
	custom backend. Exposing a facade would unnecessarily expose implementation
	details and make ``pw_rpc`` more difficult to use.
	* There is no common interface between ``pw_rpc`` / ``Method`` implementations.
	It's not possible to swap between e.g. a Nanopb and a ``pw_protobuf`` RPC
	server because the interface for the user-implemented RPCs changes completely.
	This nullifies the primary benefit of facades.
	* The different ``Method`` implementations can be built easily alongside one
	another in a cross-platform way. This makes testing simpler, since the tests
	build with any backend configuration. Users can select which ``Method``
	implementation to use simply by depending on the corresponding server library.

	Packet flow
	^^^^^^^^^^^

	Requests
	~~~~~~~~

	.. blockdiag::

	blockdiag {
	packets [shape = beginpoint];

	group {
	label = "pw_rpc library";

	server [label = "Server"];
	service [label = "Service"];
	method [label = "internal::Method"];
	}

	stubs [label = "generated services", shape = ellipse];
	user [label = "user-defined RPCs", shape = roundedbox];

	packets -> server -> service -> method -> stubs -> user;
	packets -> server [folded];
	method -> stubs [folded];
	}

	Responses
	~~~~~~~~~

	.. blockdiag::

	blockdiag {
	user -> stubs [folded];

	group {
	label = "pw_rpc library";

	server [label = "Server"];
	method [label = "internal::Method"];
	channel [label = "Channel"];
	}

	stubs [label = "generated services", shape = ellipse];
	user [label = "user-defined RPCs", shape = roundedbox];
	packets [shape = beginpoint];

	user -> stubs -> method [folded];
	method -> server -> channel;
	channel -> packets [folded];
	}