31 lines
994 B
C
31 lines
994 B
C
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//
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// Created by lgv on 2025/8/15.
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//
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#pragma once
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#include "device_manager/device_manager.h"
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#include "cmvr/api/humanoid_robot.grpc.pb.h"
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namespace cmvr {
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namespace service {
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class gRPCHumanoidRobotServiceImpl final : public api::HumanoidRobotService::Service {
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public:
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gRPCHumanoidRobotServiceImpl();
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~gRPCHumanoidRobotServiceImpl() = default;
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grpc::Status torqueOff(grpc::ServerContext *context,
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const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) override;
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grpc::Status torqueOn(grpc::ServerContext *context,
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const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) override;
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grpc::Status moveJ(grpc::ServerContext *context, const cmvr::api::MoveJ_Request *request, cmvr::api::MoveJ_Response *response) override;
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private:
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device::DeviceManager& dmgr_;
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};
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}
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}
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