46 lines
3.0 KiB
C
46 lines
3.0 KiB
C
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//
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// Created by xtkuang on 2025/6/1.
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//
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#ifndef GRPC_CAMERA_SERVICE_H
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#define GRPC_CAMERA_SERVICE_H
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#include "cmvr/api/camera_service.grpc.pb.h"
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#include "../utils/base/grpc_utils.h"
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#include "device_manager/device_manager.h"
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namespace cmvr::service {
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class gRPCCameraServiceImpl final: public api::CameraService::Service {
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public:
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gRPCCameraServiceImpl();
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~gRPCCameraServiceImpl() override = default;
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grpc::Status GetStatus(grpc::ServerContext* context, const api::GetCameraStateCommand_Request* request, api::GetCameraStateCommand_Feedback* response) override;
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grpc::Status StartCamera(grpc::ServerContext* context, const api::StartCameraCommand_Request* request, api::StartCameraCommand_Feedback* response) override;
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grpc::Status StopCamera(grpc::ServerContext* context, const api::StopCameraCommand_Request* request, api::StopCameraCommand_Feedback* response) override;
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grpc::Status GetRGBImage(grpc::ServerContext* context, const api::GetRGBImageCommand_Request* request, api::GetRGBImageCommand_Feedback* response) override;
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grpc::Status GetDepthImage(grpc::ServerContext* context, const api::GetDepthImageCommand_Request* request, api::GetDepthImageCommand_Feedback* response) override;
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grpc::Status GetRGBDImages(grpc::ServerContext* context, const api::GetRGBDImagesCommand_Request* request, api::GetRGBDImagesCommand_Feedback* response) override;
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grpc::Status StartRecording(grpc::ServerContext* context, const api::StartCameraRecordingCommand_Request* request, api::StartCameraRecordingCommand_Feedback* response) override;
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grpc::Status StopRecording(grpc::ServerContext* context, const api::StopCameraRecordingCommand_Request* request, api::StopCameraRecordingCommand_Feedback* response) override;
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grpc::Status GetDepthImageStream(grpc::ServerContext* context, grpc::ServerReaderWriter<cmvr::api::GetDepthImageStreamCommand_Feedback, cmvr::api::GetDepthImageStreamCommand_Request>* stream) override;
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grpc::Status GetRGBDImagesStream(grpc::ServerContext* context, grpc::ServerReaderWriter<cmvr::api::GetRGBDImagesStreamCommand_Feedback, cmvr::api::GetRGBDImagesStreamCommand_Request>* stream) override;
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grpc::Status GetRGBImageStream(grpc::ServerContext* context, grpc::ServerReaderWriter<cmvr::api::GetRGBImageStreamCommand_Feedback, cmvr::api::GetRGBImageStreamCommand_Request>* stream) override;
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public:
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void read_message_(grpc::ServerReaderWriter<cmvr::api::GetRGBImageStreamCommand_Feedback
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, cmvr::api::GetRGBImageStreamCommand_Request>* stream);
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void write_message_(grpc::ServerReaderWriter<cmvr::api::GetRGBImageStreamCommand_Feedback
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, cmvr::api::GetRGBImageStreamCommand_Request>* stream,std::shared_ptr<cmvr::device::AbstractCamera> dev);
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private:
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device::DeviceManager& dmgr_;
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//双向流读写线程
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std::shared_ptr<std::thread> read_thread_ = nullptr;
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std::shared_ptr<std::thread> write_thread_ = nullptr;
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std::atomic<bool> running_{false};
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};
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}
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#endif //GRPC_CAMERA_SERVICE_H
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