cmvr-es/include/service/grpc_humanoid_robot_service.h

//
// Created by lgv on 2025/8/15.
//

#pragma once

#include "device_manager/device_manager.h"
#include "cmvr/api/humanoid_robot_service.grpc.pb.h"

namespace cmvr {
    namespace service {
        class gRPCHumanoidRobotServiceImpl final : public api::HumanoidRobotService::Service {
        public:
            gRPCHumanoidRobotServiceImpl();
            ~gRPCHumanoidRobotServiceImpl() = default;
            grpc::Status torqueOff(grpc::ServerContext *context,
                const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) override;
            grpc::Status torqueOn(grpc::ServerContext *context,
                const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) override;

            grpc::Status moveJ(grpc::ServerContext *context, const cmvr::api::MoveJ_Request *request, cmvr::api::MoveJ_Response *response) override;

            grpc::Status moveL(grpc::ServerContext* context, const cmvr::api::MoveL_Request* request, cmvr::api::MoveL_Response* response) override;

            grpc::Status speedJ(grpc::ServerContext* context, const cmvr::api::SpeedJ_Request* request, cmvr::api::SpeedJ_Response* response) override;

            grpc::Status speedL(grpc::ServerContext* context, const cmvr::api::SpeedL_Request* request, cmvr::api::SpeedL_Response* response) override;

            grpc::Status getJointState(grpc::ServerContext *context, const cmvr::api::JointRequest *request, cmvr::api::JointResponse *response) override;
            grpc::Status getPose(grpc::ServerContext *context, const cmvr::api::GetPose_Request *request, cmvr::api::GetPose_Response *response) override;
        private:
            device::DeviceManager& dmgr_;
        };



    }

}