refactor: reorganize service and manager modules

cmvr-es/CMakeLists.txt

@@ -6,15 +6,15 @@ add_subdirectory(hardware)
 add_subdirectory(algorithms)
 add_subdirectory(simulate)
 add_subdirectory(devices)
-add_subdirectory(manager/control_authority)
-add_subdirectory(manager/safety)
+add_subdirectory(manager/control_authority_manager)
+add_subdirectory(manager/safety_manager)
 add_subdirectory(manager/device_manager)
-add_subdirectory(service/stop_all)
-add_subdirectory(manager/media_source_hub)
+add_subdirectory(service/grpc/stop_all)
+add_subdirectory(manager/media_source_manager)
 add_subdirectory(service/quic_edge)
-add_subdirectory(service/arm_teleop_client)
 add_subdirectory(task)
 add_subdirectory(task/quic_edge_task)
+add_subdirectory(service/grpc/client)
 add_subdirectory(task/ume_teleop_task)
 add_subdirectory(manager/task_manager)
 add_subdirectory(service)

cmvr-es/common/README.md

@@ -54,7 +54,7 @@ AGV 通用类型应参考 [`types/agv/agv_types.h`](types/agv/agv_types.h)，机
 - AAC、Opus、PCM 明确 payload format、采样率和声道数；
 - 不把 QUIC、gRPC 或浏览器专有字段加入通用帧。
 
-设备媒体接入流程见 [`../manager/README.md`](../manager/README.md) 的 MediaSourceHub 章节。
+设备媒体接入流程见 [`../manager/README.md`](../manager/README.md) 的 MediaSourceManager 章节。
 
 ## 环形队列选择
 

cmvr-es/devices/README.md

@@ -222,7 +222,7 @@ CameraDeviceConfig / AGVDeviceConfig / ... 的外层 id
 
 ## 摄像头与麦克风实时流
 
-设备实现抽象流接口后，由 [`../manager/media_source_hub/`](../manager/media_source_hub/) 适配给 gRPC 和 QUIC，不应在设备后端实现两套协议代码。
+设备实现抽象流接口后，由 [`../manager/media_source_manager/`](../manager/media_source_manager/) 适配给 gRPC 和 QUIC，不应在设备后端实现两套协议代码。
 
 当前 Hub 轨道：
 
@@ -312,7 +312,7 @@ adapter 检测到描述变化后创建新 descriptor，设备后端不要自行
 - 满队列覆盖旧数据是实时媒体的预期行为；
 - `waitEncodedFrame()` 必须有有限 timeout，不能永久阻塞。
 
-MediaSourceHub Subscription 同样是单消费者对象，不同协议或客户端必须各自订阅。
+MediaSourceManager Subscription 同样是单消费者对象，不同协议或客户端必须各自订阅。
 
 发布后的 `MediaFrame`、`TrackDescriptor` 和 payload 不可再修改。
 
@@ -334,19 +334,19 @@ MediaSourceHub Subscription 同样是单消费者对象，不同协议或客户
 无硬件参考测试：
 
 - [`camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp`](camera/hikvision_camera/tests/hikvision_camera_callback_test.cpp)
-- [`../manager/media_source_hub/tests/media_source_hub_test.cpp`](../manager/media_source_hub/tests/media_source_hub_test.cpp)
+- [`../manager/media_source_manager/tests/media_source_manager_test.cpp`](../manager/media_source_manager/tests/media_source_manager_test.cpp)
 
 ```bash
 cmake -S . -B build \
   -DCMVR_ARCH=x86 \
   -DBUILD_TESTING=ON \
-  -DCMVR_MEDIA_SOURCE_HUB_BUILD_TESTS=ON
+  -DCMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS=ON
 
 cmake --build build -j"$(nproc)"
 
 ctest \
   --test-dir build \
-  -R 'hikvision_camera_callback_test|media_source_hub_test' \
+  -R 'hikvision_camera_callback_test|media_source_manager_test' \
   --output-on-failure
 ```
 

cmvr-es/devices/arm/aubo_arm/README.md

@@ -17,7 +17,7 @@
 - DeviceManager 配置：
   [`../../../config/manager/device_manager.pb.txt`](../../../config/manager/device_manager.pb.txt)
 - ArmService 实现：
-  [`../../../service/grpc/src/grpc_arm_service.cpp`](../../../service/grpc/src/grpc_arm_service.cpp)
+  [`../../../service/grpc/server/src/grpc_arm_service.cpp`](../../../service/grpc/server/src/grpc_arm_service.cpp)
 - Proto：[`../../../../protos/cmvr/api/arm_service.proto`](../../../../protos/cmvr/api/arm_service.proto)
 
 仓库配置使用 SDK RPC 端口 `30004`。现场部署必须填写真实控制器地址和凭据，

cmvr-es/manager/README.md

@@ -6,13 +6,20 @@
 
 ## 当前管理器
 
+管理模块目录统一使用 `*_manager` 后缀，主管理类使用 `*Manager` 后缀。工厂、适配器、
+账本、快照和结果结构体属于管理器内部的支撑类型，保留其职责名称，不强行改成
+`*Manager`。
+
 | 目录 | CMake target | 职责 |
 | --- | --- | --- |
+| [`control_authority_manager/`](control_authority_manager/) | `cmvr_es::control_authority_manager` | 控制权租约、代际、dispatch fence 和 quarantine |
 | [`device_manager/`](device_manager/) | `cmvr_es::device_manager` | 按配置创建、初始化、查询和批量启停设备 |
+| [`safety_manager/`](safety_manager/) | `cmvr_es::safety_manager` | Sensor/Control 安全准入、StopAll、恢复和命令账本 |
 | [`task_manager/`](task_manager/) | `cmvr_es::task_manager` | 创建任务、校验运行模式、统一启停和调度周期任务 |
-| [`media_source_hub/`](media_source_hub/) | `cmvr_es::media_source_hub`、`cmvr_es::device_media_source_adapter` | 实时媒体源注册、按需启停和多消费者分发 |
+| [`media_source_manager/`](media_source_manager/) | `cmvr_es::media_source_manager`、`cmvr_es::device_media_source_adapter` | 实时媒体源注册、按需启停和多消费者分发 |
 
-`manager/` 当前没有聚合 `CMakeLists.txt`，三个子目录由 [`../CMakeLists.txt`](../CMakeLists.txt) 分别加入。新增 manager 时必须显式更新该文件。
+`manager/` 当前没有聚合 `CMakeLists.txt`，所有模块由 [`../CMakeLists.txt`](../CMakeLists.txt)
+按依赖顺序加入。新增 manager 时必须同时更新目录、target、依赖顺序和本 README。
 
 ## 进程生命周期
 
@@ -136,12 +143,12 @@
 - 有顺序依赖的工作应放入同一协调任务或显式建模；
 - task 返回后，其内部状态并发安全由具体实现负责。
 
-## MediaSourceHub
+## MediaSourceManager
 
 关键文件：
 
-- [`media_source_hub/include/media_source_hub.h`](media_source_hub/include/media_source_hub.h)
-- [`media_source_hub/src/device_media_source_adapter.cpp`](media_source_hub/src/device_media_source_adapter.cpp)
+- [`media_source_manager/include/media_source_manager.h`](media_source_manager/include/media_source_manager.h)
+- [`media_source_manager/src/device_media_source_adapter.cpp`](media_source_manager/src/device_media_source_adapter.cpp)
 - [`../common/media/media_frame.h`](../common/media/media_frame.h)
 - [`../common/base/ring_buffer.h`](../common/base/ring_buffer.h)
 
@@ -152,7 +159,8 @@
 | 摄像头彩色流 | `<device_id>/video/color` | 64 |
 | 麦克风主流 | `<device_id>/audio/main` | 256 |
 
-当前 gRPC RGB/麦克风流和 QUIC 彩色/麦克风轨道使用 Hub；gRPC Depth/RGBD 仍直接读取设备帧。
+当前 gRPC RGB/麦克风流和 QUIC 彩色/麦克风轨道使用 MediaSourceManager；gRPC Depth/RGBD
+仍直接读取设备帧。
 
 ### 注册新媒体源
 
@@ -211,7 +219,7 @@ ring generation 不等于 `TrackDescriptor::generation`，ring 的 `ReadResult.s
 
 ## 新增第四种 Manager
 
-1. 先确认能力不是 DeviceManager、TaskManager 或 MediaSourceHub 的子职责；
+1. 先确认能力不是 DeviceManager、TaskManager 或 MediaSourceManager 的子职责；
 2. 定义所有权、初始化、start/stop 和线程模型；
 3. 避免新增无必要的全局单例；
 4. 新建独立目录、头文件、实现和 CMake target；
@@ -221,13 +229,13 @@ ring generation 不等于 `TrackDescriptor::generation`，ring 的 `ReadResult.s
 
 ## 测试
 
-MediaSourceHub：
+MediaSourceManager：
 
 ```bash
-cmake --build build --target media_source_hub_test
+cmake --build build --target media_source_manager_test
 ctest \
   --test-dir build \
-  -R '^media_source_hub_test$' \
+  -R '^media_source_manager_test$' \
   --output-on-failure
 ```
 

cmvr-es/manager/control_authority_manager/CMakeLists.txt

@@ -1,17 +1,17 @@
-add_library(control_authority STATIC
+add_library(control_authority_manager STATIC
         src/control_authority_manager.cpp
 )
-target_compile_features(control_authority PUBLIC cxx_std_17)
-target_include_directories(control_authority
+target_compile_features(control_authority_manager PUBLIC cxx_std_17)
+target_include_directories(control_authority_manager
         PUBLIC
         ${PROJECT_SOURCE_DIR}/cmvr-es
 )
 
 add_library(
-        cmvr_es::control_authority
-        ALIAS control_authority
+        cmvr_es::control_authority_manager
+        ALIAS control_authority_manager
 )
-install(TARGETS control_authority ARCHIVE DESTINATION lib)
+install(TARGETS control_authority_manager ARCHIVE DESTINATION lib)
 
 if(BUILD_TESTING)
     add_executable(control_authority_manager_test
@@ -19,7 +19,7 @@ if(BUILD_TESTING)
     )
     target_link_libraries(control_authority_manager_test
             PRIVATE
-            cmvr_es::control_authority
+            cmvr_es::control_authority_manager
             gtest
             gtest_main
             pthread

cmvr-es/manager/control_authority_manager/src/control_authority_manager.cpp

@@ -1,4 +1,4 @@
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 
 #include <utility>
 

cmvr-es/manager/control_authority_manager/tests/control_authority_manager_test.cpp

@@ -1,4 +1,4 @@
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 
 #include <chrono>
 #include <future>

cmvr-es/manager/device_manager/CMakeLists.txt

@@ -8,7 +8,7 @@ target_include_directories(device_manager PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(device_manager PRIVATE
         cmvr_es::proto
-        cmvr_es::safety_coordinator
+        cmvr_es::safety_manager
         cmvr_es::device::camera
         cmvr_es::device::agv
         cmvr_es::device::speaker

cmvr-es/manager/device_manager/include/device_manager.h

@@ -15,7 +15,7 @@
 
 #include "device_factory.h"
 #include "cmvr/config/device_manager_config/device_manager_config.pb.h"
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/safety_manager/include/safety_manager.h"
 
 namespace cmvr::device {
 
@@ -48,13 +48,13 @@ namespace cmvr::device {
         std::vector<DeviceInventoryEntry> inventorySnapshot() const;
         DeviceManagerSnapshot snapshot() const;
 
-        safety::SafetyCoordinator& safetyCoordinator() noexcept
+        safety::SafetyManager& safetyManager() noexcept
         {
-            return *safety_coordinator_;
+            return *safety_manager_;
         }
-        const safety::SafetyCoordinator& safetyCoordinator() const noexcept
+        const safety::SafetyManager& safetyManager() const noexcept
         {
-            return *safety_coordinator_;
+            return *safety_manager_;
         }
 
         std::string version() const;
@@ -74,7 +74,7 @@ namespace cmvr::device {
         std::unordered_map<std::string, DeviceRecord> devices_;
         std::unordered_map<std::string, ManagedDeviceSnapshot> device_statuses_;
         std::unique_ptr<DeviceFactory> dev_factory_;
-        std::unique_ptr<safety::SafetyCoordinator> safety_coordinator_;
+        std::unique_ptr<safety::SafetyManager> safety_manager_;
         bool initialized_{false};
 
         explicit DeviceManager(const config::DeviceManagerConfig &cfg);

cmvr-es/manager/device_manager/include/device_safety_adapters.h

@@ -4,7 +4,7 @@
 #include <memory>
 
 #include "devices/abstract_device.h"
-#include "manager/safety/include/safety_participant.h"
+#include "manager/safety_manager/include/safety_participant.h"
 
 namespace cmvr::device {
 

cmvr-es/manager/device_manager/src/device_manager.cpp

@@ -38,10 +38,10 @@ using MotorJointSelections = std::unordered_map<std::string, GroupJointSelection
 constexpr std::size_t kMaxDeviceErrorLength = 512;
 constexpr auto kSafetyStartupValidationTimeout = std::chrono::seconds(2);
 
-cmvr::safety::SafetyCoordinatorConfig safetyConfigFrom(
+cmvr::safety::SafetyManagerConfig safetyConfigFrom(
     const cmvr::config::DeviceManagerConfig& config)
 {
-    cmvr::safety::SafetyCoordinatorConfig result;
+    cmvr::safety::SafetyManagerConfig result;
     if (!config.has_safety()) {
         result.enforcement_mode = cmvr::safety::EnforcementMode::Shadow;
         return result;
@@ -49,18 +49,18 @@ cmvr::safety::SafetyCoordinatorConfig safetyConfigFrom(
 
     const auto& source = config.safety();
     switch (source.mode()) {
-    case cmvr::config::SafetyCoordinatorConfig::LEGACY:
+    case cmvr::config::SafetyManagerConfig::LEGACY:
         result.enforcement_mode = cmvr::safety::EnforcementMode::Legacy;
         break;
-    case cmvr::config::SafetyCoordinatorConfig::ENFORCE_SELECTED:
+    case cmvr::config::SafetyManagerConfig::ENFORCE_SELECTED:
         result.enforcement_mode =
             cmvr::safety::EnforcementMode::EnforceSelected;
         break;
-    case cmvr::config::SafetyCoordinatorConfig::ENFORCE_ALL:
+    case cmvr::config::SafetyManagerConfig::ENFORCE_ALL:
         result.enforcement_mode = cmvr::safety::EnforcementMode::EnforceAll;
         break;
-    case cmvr::config::SafetyCoordinatorConfig::SHADOW:
-    case cmvr::config::SafetyCoordinatorConfig::ENFORCEMENT_MODE_UNSPECIFIED:
+    case cmvr::config::SafetyManagerConfig::SHADOW:
+    case cmvr::config::SafetyManagerConfig::ENFORCEMENT_MODE_UNSPECIFIED:
     default:
         result.enforcement_mode = cmvr::safety::EnforcementMode::Shadow;
         break;
@@ -236,7 +236,7 @@ std::mutex DeviceManager::init_mutex_;
 DeviceManager::DeviceManager(const config::DeviceManagerConfig& cfg)
     : cfg_(cfg),
       dev_factory_(std::make_unique<DeviceFactory>()),
-      safety_coordinator_(std::make_unique<safety::SafetyCoordinator>(
+      safety_manager_(std::make_unique<safety::SafetyManager>(
           safetyConfigFrom(cfg)))
 {
     initialize_device_statuses_();
@@ -313,7 +313,7 @@ bool DeviceManager::start(){
         bool started = false;
         std::string error_message;
         try {
-            (void)safety_coordinator_->advanceDeviceGeneration(id);
+            (void)safety_manager_->advanceDeviceGeneration(id);
             started = device->start();
             if (!started) {
                 error_message = "device start returned false: " + id;
@@ -342,7 +342,7 @@ bool DeviceManager::start(){
         }
     }
     if (all_started) {
-        const auto coverage = safety_coordinator_->validateStartupCoverage(
+        const auto coverage = safety_manager_->validateStartupCoverage(
             safety::SafetyClock::now() + kSafetyStartupValidationTimeout);
         if (!coverage.ready) {
             all_started = false;
@@ -363,7 +363,7 @@ bool DeviceManager::start(){
         // explicit stop() records Stopped/Error transitions.
         stop_devices_(false);
     } else {
-        safety_coordinator_->markStartupComplete();
+        safety_manager_->markStartupComplete();
     }
     return all_started;
 }
@@ -422,7 +422,7 @@ void DeviceManager::stop_devices_(const bool update_status) {
                 update_device_status_(id, ManagedDeviceState::Stopped);
             }
             CMVR_LOG(INFO) << "[DeviceManager]: Stop device " << id << " Success";
-            safety_coordinator_->updateDeviceRuntimeState(
+            safety_manager_->updateDeviceRuntimeState(
                 id, ManagedDeviceState::Stopped,
                 sample_device_health_(device));
         } else {
@@ -431,7 +431,7 @@ void DeviceManager::stop_devices_(const bool update_status) {
                     id, ManagedDeviceState::Error, error_message);
             }
             CMVR_LOG(ERROR) << "[DeviceManager]: Stop device " << id << " Failed";
-            safety_coordinator_->updateDeviceRuntimeState(
+            safety_manager_->updateDeviceRuntimeState(
                 id, ManagedDeviceState::Error,
                 {DeviceHealthState::Fault, error_message});
         }
@@ -634,7 +634,7 @@ void DeviceManager::update_device_status_(
         status.status_updated_at_unix_ms = unixTimeMs();
         health = status.health;
     }
-    safety_coordinator_->updateDeviceRuntimeState(device_id, state, health);
+    safety_manager_->updateDeviceRuntimeState(device_id, state, health);
 }
 
 DeviceManagerSnapshot DeviceManager::snapshot() const
@@ -724,7 +724,7 @@ void DeviceManager::update_device_health_(
         status.status_updated_at_unix_ms = unixTimeMs();
         health = status.health;
     }
-    safety_coordinator_->updateDeviceRuntimeState(
+    safety_manager_->updateDeviceRuntimeState(
         device_id, lifecycle, std::move(health));
 }
 
@@ -750,7 +750,7 @@ bool DeviceManager::register_device_safety_(
         return false;
     }
     const bool registered =
-        safety_coordinator_->registerDevice(std::move(registration));
+        safety_manager_->registerDevice(std::move(registration));
     return registered;
 }
 

cmvr-es/manager/device_manager/src/device_safety_adapters.cpp

@@ -21,8 +21,8 @@
 #include "devices/microphone/abstract_microphone.h"
 #include "devices/motor/manager/include/motor_manager.h"
 #include "devices/speaker/abstract_speaker.h"
-#include "manager/control_authority/include/control_authority_manager.h"
-#include "manager/safety/include/device_safety_endpoint.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "manager/safety_manager/include/device_safety_endpoint.h"
 
 namespace cmvr::device {
 

cmvr-es/manager/device_manager/tests/device_manager_lifecycle_test.cpp

@@ -127,14 +127,14 @@ TEST_F(DeviceManagerLifecycleTest,
     cmvr::config::DeviceManagerConfig config;
     auto* safety = config.mutable_safety();
     safety->set_mode(
-        cmvr::config::SafetyCoordinatorConfig::ENFORCE_SELECTED);
+        cmvr::config::SafetyManagerConfig::ENFORCE_SELECTED);
     safety->add_enforced_device_ids("missing-arm");
 
     auto& manager = cmvr::device::DeviceManager::getInstance(config);
     ASSERT_TRUE(manager.initialized());
     EXPECT_FALSE(manager.start());
     EXPECT_EQ(
-        manager.safetyCoordinator().snapshot().system_state,
+        manager.safetyManager().snapshot().system_state,
         cmvr::safety::SystemAdmissionState::Starting);
 }
 
@@ -143,7 +143,7 @@ TEST_F(DeviceManagerLifecycleTest,
 {
     cmvr::config::DeviceManagerConfig config;
     config.mutable_safety()->set_mode(
-        cmvr::config::SafetyCoordinatorConfig::ENFORCE_SELECTED);
+        cmvr::config::SafetyManagerConfig::ENFORCE_SELECTED);
 
     auto& manager = cmvr::device::DeviceManager::getInstance(config);
     ASSERT_TRUE(manager.initialized());

cmvr-es/manager/media_source_manager/CMakeLists.txt

@@ -1,28 +1,28 @@
 if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
     cmake_minimum_required(VERSION 3.22)
-    project(cmvr_media_source_hub LANGUAGES CXX)
+    project(cmvr_media_source_manager LANGUAGES CXX)
     enable_testing()
     add_subdirectory(
-            ${CMAKE_CURRENT_SOURCE_DIR}/../../service/stop_all
+            ${CMAKE_CURRENT_SOURCE_DIR}/../../service/grpc/stop_all
             ${CMAKE_CURRENT_BINARY_DIR}/stop_all
     )
 endif()
 
-add_library(media_source_hub STATIC
-        src/media_source_hub.cpp
+add_library(media_source_manager STATIC
+        src/media_source_manager.cpp
 )
 
-target_compile_features(media_source_hub PUBLIC cxx_std_17)
-target_include_directories(media_source_hub
+target_compile_features(media_source_manager PUBLIC cxx_std_17)
+target_include_directories(media_source_manager
         PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}/../..
 )
-target_link_libraries(media_source_hub
+target_link_libraries(media_source_manager
         PUBLIC
         cmvr_es::stop_all_admission_gate
 )
 
-add_library(cmvr_es::media_source_hub ALIAS media_source_hub)
+add_library(cmvr_es::media_source_manager ALIAS media_source_manager)
 
 if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
     add_library(device_media_source_adapter STATIC
@@ -35,11 +35,11 @@ if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
     )
     target_link_libraries(device_media_source_adapter
             PUBLIC
-            cmvr_es::media_source_hub
+            cmvr_es::media_source_manager
             cmvr_es::common
             cmvr_es::proto
             cmvr_es::logging
-            cmvr_es::safety_coordinator
+            cmvr_es::safety_manager
     )
     add_library(cmvr_es::device_media_source_adapter ALIAS device_media_source_adapter)
 
@@ -71,27 +71,27 @@ if(NOT CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
     endif()
 endif()
 
-option(CMVR_MEDIA_SOURCE_HUB_BUILD_TESTS
-       "Build the standalone MediaSourceHub self-test"
+option(CMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS
+       "Build the standalone MediaSourceManager self-test"
        ${PROJECT_IS_TOP_LEVEL})
 
-if(CMVR_MEDIA_SOURCE_HUB_BUILD_TESTS)
+if(CMVR_MEDIA_SOURCE_MANAGER_BUILD_TESTS)
     find_package(Threads REQUIRED)
-    add_executable(media_source_hub_test
-            tests/media_source_hub_test.cpp
+    add_executable(media_source_manager_test
+            tests/media_source_manager_test.cpp
     )
-    target_compile_features(media_source_hub_test PRIVATE cxx_std_17)
-    target_link_libraries(media_source_hub_test
+    target_compile_features(media_source_manager_test PRIVATE cxx_std_17)
+    target_link_libraries(media_source_manager_test
             PRIVATE
-            cmvr_es::media_source_hub
+            cmvr_es::media_source_manager
             Threads::Threads
     )
     # This self-test only links the static Hub and pthreads. In the root build,
     # the project-wide third-party RUNPATH can otherwise make the loader pick up
     # a vendor libstdc++.so (for example from the AUBO SDK), even though the test
     # has no dependency on that SDK.
-    set_target_properties(media_source_hub_test PROPERTIES
+    set_target_properties(media_source_manager_test PROPERTIES
             SKIP_BUILD_RPATH TRUE
     )
-    add_test(NAME media_source_hub_test COMMAND media_source_hub_test)
+    add_test(NAME media_source_manager_test COMMAND media_source_manager_test)
 endif()

cmvr-es/manager/media_source_manager/include/device_media_source_adapter.h

@@ -9,13 +9,13 @@
 
 #include "devices/camera/abstract_camera.h"
 #include "devices/microphone/abstract_microphone.h"
-#include "manager/media_source_hub/include/media_source_hub.h"
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/media_source_manager/include/media_source_manager.h"
+#include "manager/safety_manager/include/safety_manager.h"
 
 namespace cmvr::media {
 
 // Process-wide protocol-neutral media hub shared by gRPC and QUIC services.
-MediaSourceHub& globalMediaSourceHub();
+MediaSourceManager& globalMediaSourceManager();
 
 std::string cameraColorTrackId(const std::string& device_id);
 std::string microphoneTrackId(const std::string& device_id);
@@ -24,7 +24,7 @@ std::string microphoneTrackId(const std::string& device_id);
 // device endpoint's final hardware check. Keep the returned guard alive until
 // the operation which can start the physical media producer has returned.
 safety::DispatchGuard beginMediaSourceStartDispatch(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& device_id);
 
 // Registration is idempotent for an already registered track. The adapter owns a
@@ -32,12 +32,12 @@ safety::DispatchGuard beginMediaSourceStartDispatch(
 // at least one Hub subscription is active. It ensures start() succeeds but deliberately
 // does not call stop(), because the base device lifecycle can also be owned by control RPCs.
 bool ensureCameraMediaSource(
-    MediaSourceHub& hub,
+    MediaSourceManager& hub,
     const std::shared_ptr<device::AbstractCamera>& camera,
     size_t ring_capacity = 64);
 
 bool ensureMicrophoneMediaSource(
-    MediaSourceHub& hub,
+    MediaSourceManager& hub,
     const std::shared_ptr<device::AbstractMicrophone>& microphone,
     size_t ring_capacity = 256);
 

cmvr-es/manager/media_source_manager/include/media_source_manager.h

@@ -1,5 +1,5 @@
-#ifndef CMVR_ES_MANAGER_MEDIA_SOURCE_HUB_H
-#define CMVR_ES_MANAGER_MEDIA_SOURCE_HUB_H
+#ifndef CMVR_ES_MANAGER_MEDIA_SOURCE_MANAGER_H
+#define CMVR_ES_MANAGER_MEDIA_SOURCE_MANAGER_H
 
 #pragma once
 
@@ -21,15 +21,15 @@ class StopAllAdmissionGate;
 
 namespace cmvr::media {
 
-// MediaSourceHub owns no protocol-specific state. A device or capture adapter registers
+// MediaSourceManager owns no protocol-specific state. A device or capture adapter registers
 // start/stop callbacks and receives a sink callback when the first consumer subscribes.
-class MediaSourceHub final {
+class MediaSourceManager final {
 public:
     using FrameRing = BroadcastFrameRing<MediaFrame>;
     using FrameReadResult = FrameRing::ReadResult;
     using StartPosition = FrameRing::StartPosition;
     using FrameSink = std::function<void(MediaFramePtr)>;
-    // Cancellation checks run while MediaSourceHub protects source lifecycle
+    // Cancellation checks run while MediaSourceManager protects source lifecycle
     // state. Predicates must therefore be fast, non-blocking and must not call
     // back into the same hub.
     using CancelPredicate = std::function<bool()>;
@@ -37,7 +37,7 @@ public:
     struct SourceCallbacks {
         // start() may run asynchronously. It must observe cancelled during any
         // potentially blocking startup work and return false promptly once set.
-        // MediaSourceHub retains the callback state until a non-cooperative start
+        // MediaSourceManager retains the callback state until a non-cooperative start
         // eventually returns, so late completion cannot access destroyed state.
         std::function<bool(
             const FrameSink& sink,
@@ -84,7 +84,7 @@ public:
         void reset();
 
     private:
-        friend class MediaSourceHub;
+        friend class MediaSourceManager;
         Subscription(std::shared_ptr<SourceState> source, FrameRing::Cursor cursor);
 
         std::shared_ptr<SourceState> source_;
@@ -94,12 +94,12 @@ public:
 
     // Pass the process-wide StopAll gate for a hub whose sources are part of
     // whole-machine operational stopping. Test/private hubs may remain local.
-    explicit MediaSourceHub(
+    explicit MediaSourceManager(
         service::StopAllAdmissionGate* admission_gate = nullptr);
-    ~MediaSourceHub();
+    ~MediaSourceManager();
 
-    MediaSourceHub(const MediaSourceHub&) = delete;
-    MediaSourceHub& operator=(const MediaSourceHub&) = delete;
+    MediaSourceManager(const MediaSourceManager&) = delete;
+    MediaSourceManager& operator=(const MediaSourceManager&) = delete;
 
     bool registerSource(
         TrackDescriptorPtr initial_descriptor,
@@ -159,4 +159,4 @@ private:
 
 } // namespace cmvr::media
 
-#endif // CMVR_ES_MANAGER_MEDIA_SOURCE_HUB_H
+#endif // CMVR_ES_MANAGER_MEDIA_SOURCE_MANAGER_H

cmvr-es/manager/media_source_manager/src/device_media_source_adapter.cpp

@@ -1,6 +1,6 @@
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 #include <algorithm>
 #include <atomic>
@@ -131,8 +131,8 @@ struct PumpState : public std::enable_shared_from_this<PumpState<DeviceT>> {
     }
 
     bool begin(
-        const MediaSourceHub::FrameSink& frame_sink,
-        const MediaSourceHub::CancelPredicate& cancelled) {
+        const MediaSourceManager::FrameSink& frame_sink,
+        const MediaSourceManager::CancelPredicate& cancelled) {
         if (!frame_sink || !device) {
             return false;
         }
@@ -288,7 +288,7 @@ struct PumpState : public std::enable_shared_from_this<PumpState<DeviceT>> {
     std::atomic<bool> running{false};
     std::mutex mutex;
     std::thread worker;
-    MediaSourceHub::FrameSink sink;
+    MediaSourceManager::FrameSink sink;
     bool streaming_started{false};
 };
 
@@ -448,7 +448,7 @@ struct CameraPump final : PumpState<device::AbstractCamera> {
             frame.key_frame = source.bKey;
             frame.discontinuity = pending_discontinuity;
 
-            MediaSourceHub::FrameSink current_sink;
+            MediaSourceManager::FrameSink current_sink;
             {
                 std::lock_guard<std::mutex> lock(mutex);
                 current_sink = sink;
@@ -581,7 +581,7 @@ struct MicrophonePump final : PumpState<device::AbstractMicrophone> {
             frame.key_frame = true;
             frame.discontinuity = pending_discontinuity;
 
-            MediaSourceHub::FrameSink current_sink;
+            MediaSourceManager::FrameSink current_sink;
             {
                 std::lock_guard<std::mutex> lock(mutex);
                 current_sink = sink;
@@ -619,8 +619,8 @@ TrackDescriptorPtr initialTrack(
 
 } // namespace
 
-MediaSourceHub& globalMediaSourceHub() {
-    static MediaSourceHub hub(&service::globalStopAllAdmissionGate());
+MediaSourceManager& globalMediaSourceManager() {
+    static MediaSourceManager hub(&service::globalStopAllAdmissionGate());
     return hub;
 }
 
@@ -633,12 +633,12 @@ std::string microphoneTrackId(const std::string& device_id) {
 }
 
 safety::DispatchGuard beginMediaSourceStartDispatch(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& device_id)
 {
     safety::AdmissionRequest request;
     request.command = {
-        "cmvr.internal.MediaSourceHub/StartSource",
+        "cmvr.internal.MediaSourceManager/StartSource",
         safety::CommandIntent::StartActivity,
         safety::SafetyPolicyFamily::Sensor,
         true,
@@ -670,7 +670,7 @@ safety::DispatchGuard beginMediaSourceStartDispatch(
 }
 
 bool ensureCameraMediaSource(
-    MediaSourceHub& hub,
+    MediaSourceManager& hub,
     const std::shared_ptr<device::AbstractCamera>& camera,
     const size_t ring_capacity) {
     if (!camera || camera->id().empty()) {
@@ -682,10 +682,10 @@ bool ensureCameraMediaSource(
     }
 
     const auto pump = std::make_shared<CameraPump>(camera, track_id);
-    MediaSourceHub::SourceCallbacks callbacks;
+    MediaSourceManager::SourceCallbacks callbacks;
     callbacks.start = [pump](
-                          const MediaSourceHub::FrameSink& sink,
-                          const MediaSourceHub::CancelPredicate& cancelled) {
+                          const MediaSourceManager::FrameSink& sink,
+                          const MediaSourceManager::CancelPredicate& cancelled) {
         return pump->begin(sink, cancelled);
     };
     callbacks.stop_confirmed = [pump] { return pump->stop(); };
@@ -702,7 +702,7 @@ bool ensureCameraMediaSource(
 }
 
 bool ensureMicrophoneMediaSource(
-    MediaSourceHub& hub,
+    MediaSourceManager& hub,
     const std::shared_ptr<device::AbstractMicrophone>& microphone,
     const size_t ring_capacity) {
     if (!microphone || microphone->id().empty()) {
@@ -714,10 +714,10 @@ bool ensureMicrophoneMediaSource(
     }
 
     const auto pump = std::make_shared<MicrophonePump>(microphone, track_id);
-    MediaSourceHub::SourceCallbacks callbacks;
+    MediaSourceManager::SourceCallbacks callbacks;
     callbacks.start = [pump](
-                          const MediaSourceHub::FrameSink& sink,
-                          const MediaSourceHub::CancelPredicate& cancelled) {
+                          const MediaSourceManager::FrameSink& sink,
+                          const MediaSourceManager::CancelPredicate& cancelled) {
         return pump->begin(sink, cancelled);
     };
     callbacks.stop_confirmed = [pump] { return pump->stop(); };

cmvr-es/manager/media_source_manager/src/media_source_manager.cpp

@@ -1,4 +1,4 @@
-#include "manager/media_source_hub/include/media_source_hub.h"
+#include "manager/media_source_manager/include/media_source_manager.h"
 
 #include <algorithm>
 #include <atomic>
@@ -9,11 +9,11 @@
 #include <unordered_set>
 #include <utility>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::media {
 
-struct MediaSourceHub::SourceState final : public std::enable_shared_from_this<SourceState> {
+struct MediaSourceManager::SourceState final : public std::enable_shared_from_this<SourceState> {
     enum class Lifecycle {
         STOPPED,
         STARTING,
@@ -406,7 +406,7 @@ struct MediaSourceHub::SourceState final : public std::enable_shared_from_this<S
     std::shared_ptr<StartAttempt> start_attempt;
 };
 
-struct MediaSourceHub::Impl final {
+struct MediaSourceManager::Impl final {
     explicit Impl(service::StopAllAdmissionGate* source_admission_gate)
         : admission_gate(source_admission_gate) {}
 
@@ -420,25 +420,25 @@ struct MediaSourceHub::Impl final {
     service::StopAllAdmissionGate* const admission_gate;
 };
 
-MediaSourceHub::Subscription::Subscription(
+MediaSourceManager::Subscription::Subscription(
     std::shared_ptr<SourceState> source,
     FrameRing::Cursor cursor)
     : source_(std::move(source)),
       cursor_(std::move(cursor)),
       active_(static_cast<bool>(source_)) {}
 
-MediaSourceHub::Subscription::~Subscription() {
+MediaSourceManager::Subscription::~Subscription() {
     reset();
 }
 
-MediaSourceHub::Subscription::Subscription(Subscription&& other) noexcept
+MediaSourceManager::Subscription::Subscription(Subscription&& other) noexcept
     : source_(std::move(other.source_)),
       cursor_(other.cursor_),
       active_(other.active_) {
     other.active_ = false;
 }
 
-MediaSourceHub::Subscription& MediaSourceHub::Subscription::operator=(Subscription&& other) noexcept {
+MediaSourceManager::Subscription& MediaSourceManager::Subscription::operator=(Subscription&& other) noexcept {
     if (this == &other) {
         return *this;
     }
@@ -450,22 +450,22 @@ MediaSourceHub::Subscription& MediaSourceHub::Subscription::operator=(Subscripti
     return *this;
 }
 
-bool MediaSourceHub::Subscription::valid() const {
+bool MediaSourceManager::Subscription::valid() const {
     return active_ && source_ && source_->validForSubscription();
 }
 
-TrackDescriptorPtr MediaSourceHub::Subscription::descriptor() const {
+TrackDescriptorPtr MediaSourceManager::Subscription::descriptor() const {
     return source_ ? source_->currentDescriptor() : nullptr;
 }
 
-std::optional<MediaSourceHub::FrameReadResult> MediaSourceHub::Subscription::tryRead() {
+std::optional<MediaSourceManager::FrameReadResult> MediaSourceManager::Subscription::tryRead() {
     if (!active_ || !source_) {
         return std::nullopt;
     }
     return source_->ring.tryRead(cursor_);
 }
 
-std::optional<MediaSourceHub::FrameReadResult> MediaSourceHub::Subscription::waitRead(
+std::optional<MediaSourceManager::FrameReadResult> MediaSourceManager::Subscription::waitRead(
     const std::chrono::milliseconds timeout) {
     if (!active_ || !source_) {
         return std::nullopt;
@@ -473,7 +473,7 @@ std::optional<MediaSourceHub::FrameReadResult> MediaSourceHub::Subscription::wai
     return source_->ring.waitRead(cursor_, timeout);
 }
 
-uint64_t MediaSourceHub::Subscription::discardPendingIfExceeds(
+uint64_t MediaSourceManager::Subscription::discardPendingIfExceeds(
     const size_t maximum_pending_frames) {
     if (!active_ || !source_) {
         return 0;
@@ -481,11 +481,11 @@ uint64_t MediaSourceHub::Subscription::discardPendingIfExceeds(
     return source_->ring.discardPendingIfExceeds(cursor_, maximum_pending_frames);
 }
 
-uint64_t MediaSourceHub::Subscription::droppedCount() const noexcept {
+uint64_t MediaSourceManager::Subscription::droppedCount() const noexcept {
     return cursor_.dropped_count;
 }
 
-void MediaSourceHub::Subscription::reset() {
+void MediaSourceManager::Subscription::reset() {
     if (active_ && source_) {
         source_->release();
     }
@@ -493,15 +493,15 @@ void MediaSourceHub::Subscription::reset() {
     source_.reset();
 }
 
-MediaSourceHub::MediaSourceHub(
+MediaSourceManager::MediaSourceManager(
     service::StopAllAdmissionGate* admission_gate)
     : impl_(std::make_shared<Impl>(admission_gate)) {}
 
-MediaSourceHub::~MediaSourceHub() {
+MediaSourceManager::~MediaSourceManager() {
     shutdown();
 }
 
-bool MediaSourceHub::registerSource(
+bool MediaSourceManager::registerSource(
     TrackDescriptorPtr initial_descriptor,
     SourceCallbacks callbacks,
     const size_t ring_capacity) {
@@ -556,7 +556,7 @@ bool MediaSourceHub::registerSource(
     return inserted;
 }
 
-bool MediaSourceHub::unregisterSource(const std::string& track_id) {
+bool MediaSourceManager::unregisterSource(const std::string& track_id) {
     if (!impl_ || track_id.empty()) {
         return false;
     }
@@ -590,7 +590,7 @@ bool MediaSourceHub::unregisterSource(const std::string& track_id) {
     return false;
 }
 
-bool MediaSourceHub::hasSource(const std::string& track_id) const {
+bool MediaSourceManager::hasSource(const std::string& track_id) const {
     if (!impl_) {
         return false;
     }
@@ -598,7 +598,7 @@ bool MediaSourceHub::hasSource(const std::string& track_id) const {
     return impl_->sources.find(track_id) != impl_->sources.end();
 }
 
-std::vector<TrackDescriptorPtr> MediaSourceHub::listTracks() const {
+std::vector<TrackDescriptorPtr> MediaSourceManager::listTracks() const {
     std::vector<std::shared_ptr<SourceState>> sources;
     if (!impl_) {
         return {};
@@ -625,7 +625,7 @@ std::vector<TrackDescriptorPtr> MediaSourceHub::listTracks() const {
     return descriptors;
 }
 
-std::vector<std::string> MediaSourceHub::trackedSourceIds() const {
+std::vector<std::string> MediaSourceManager::trackedSourceIds() const {
     if (!impl_) {
         return {};
     }
@@ -644,7 +644,7 @@ std::vector<std::string> MediaSourceHub::trackedSourceIds() const {
     return source_ids;
 }
 
-size_t MediaSourceHub::subscriberCount(const std::string& track_id) const {
+size_t MediaSourceManager::subscriberCount(const std::string& track_id) const {
     if (!impl_) {
         return 0;
     }
@@ -660,7 +660,7 @@ size_t MediaSourceHub::subscriberCount(const std::string& track_id) const {
     return source->subscriberCount();
 }
 
-bool MediaSourceHub::requestKeyFrame(const std::string& track_id) const {
+bool MediaSourceManager::requestKeyFrame(const std::string& track_id) const {
     if (!impl_) {
         return false;
     }
@@ -676,7 +676,7 @@ bool MediaSourceHub::requestKeyFrame(const std::string& track_id) const {
     return source->requestKeyFrame();
 }
 
-MediaSourceHub::Subscription MediaSourceHub::subscribe(
+MediaSourceManager::Subscription MediaSourceManager::subscribe(
     const std::string& track_id,
     const StartPosition start_position,
     CancelPredicate cancelled) {
@@ -701,7 +701,7 @@ MediaSourceHub::Subscription MediaSourceHub::subscribe(
     return Subscription(std::move(source), std::move(cursor));
 }
 
-bool MediaSourceHub::stopSourcesForDevice(
+bool MediaSourceManager::stopSourcesForDevice(
     const std::string& source_id,
     std::vector<std::string>* failures) {
     if (source_id.empty()) {
@@ -713,11 +713,11 @@ bool MediaSourceHub::stopSourcesForDevice(
     return stopSources(source_id, failures);
 }
 
-bool MediaSourceHub::stopAllSources(std::vector<std::string>* failures) {
+bool MediaSourceManager::stopAllSources(std::vector<std::string>* failures) {
     return stopSources(std::nullopt, failures);
 }
 
-bool MediaSourceHub::stopSources(
+bool MediaSourceManager::stopSources(
     const std::optional<std::string>& source_id,
     std::vector<std::string>* failures) {
     if (failures) {
@@ -796,7 +796,7 @@ bool MediaSourceHub::stopSources(
     return quarantined.empty();
 }
 
-void MediaSourceHub::shutdown() {
+void MediaSourceManager::shutdown() {
     (void)stopAllSources();
 }
 

cmvr-es/manager/media_source_manager/tests/device_media_source_adapter_test.cpp

@@ -1,4 +1,4 @@
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
 
 #include <atomic>
 #include <chrono>
@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "manager/safety/include/device_safety_endpoint.h"
+#include "manager/safety_manager/include/device_safety_endpoint.h"
 
 namespace cmvr::media {
 namespace {
@@ -81,9 +81,9 @@ private:
 TEST(DeviceMediaSourceAdapterTest,
      SensorStartUsesFinalCheckAndQuarantineRejectsRestart)
 {
-    safety::SafetyCoordinatorConfig config;
+    safety::SafetyManagerConfig config;
     config.enforcement_mode = safety::EnforcementMode::EnforceAll;
-    safety::SafetyCoordinator coordinator(config);
+    safety::SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeSensorEndpoint>("camera");
     ASSERT_TRUE(coordinator.registerDevice(
         {endpoint->descriptor(), endpoint, {}}));

cmvr-es/manager/media_source_manager/tests/media_source_manager_test.cpp

@@ -1,5 +1,5 @@
-#include "manager/media_source_hub/include/media_source_hub.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/media_source_manager/include/media_source_manager.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 #include <atomic>
 #include <chrono>
@@ -20,7 +20,7 @@ using cmvr::media::Codec;
 using cmvr::media::MediaFrame;
 using cmvr::media::MediaFramePtr;
 using cmvr::media::MediaKind;
-using cmvr::media::MediaSourceHub;
+using cmvr::media::MediaSourceManager;
 using cmvr::media::PayloadFormat;
 using cmvr::media::Rational;
 using cmvr::media::TrackDescriptor;
@@ -349,17 +349,17 @@ void testBroadcastConcurrency() {
 }
 
 void testHubLifecycleAndDescriptorRefresh() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto initial_descriptor = makeVideoDescriptor(Codec::UNKNOWN, 1);
     std::atomic<int> start_count{0};
     std::atomic<int> stop_count{0};
     std::atomic<int> key_frame_requests{0};
     std::mutex sink_mutex;
-    MediaSourceHub::FrameSink sink;
+    MediaSourceManager::FrameSink sink;
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [&](const MediaSourceHub::FrameSink& callback_sink,
-                          const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [&](const MediaSourceManager::FrameSink& callback_sink,
+                          const MediaSourceManager::CancelPredicate&) {
         {
             std::lock_guard<std::mutex> lock(sink_mutex);
             sink = callback_sink;
@@ -394,7 +394,7 @@ void testHubLifecycleAndDescriptorRefresh() {
 
     // Content changes at the same generation must atomically replace the initial descriptor.
     const auto actual_descriptor = makeVideoDescriptor(Codec::H264, 1, {0, 0, 0, 1, 0x67});
-    MediaSourceHub::FrameSink producer;
+    MediaSourceManager::FrameSink producer;
     {
         std::lock_guard<std::mutex> lock(sink_mutex);
         producer = sink;
@@ -429,14 +429,14 @@ void testHubLifecycleAndDescriptorRefresh() {
 }
 
 void testSubscriptionDiscardPending() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::H264, 1);
     std::mutex sink_mutex;
-    MediaSourceHub::FrameSink sink;
+    MediaSourceManager::FrameSink sink;
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [&](const MediaSourceHub::FrameSink& callback_sink,
-                          const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [&](const MediaSourceManager::FrameSink& callback_sink,
+                          const MediaSourceManager::CancelPredicate&) {
         std::lock_guard<std::mutex> lock(sink_mutex);
         sink = callback_sink;
         return true;
@@ -450,7 +450,7 @@ void testSubscriptionDiscardPending() {
     auto subscription = hub.subscribe(descriptor->id);
     CHECK_TRUE(subscription.valid());
 
-    MediaSourceHub::FrameSink producer;
+    MediaSourceManager::FrameSink producer;
     {
         std::lock_guard<std::mutex> lock(sink_mutex);
         producer = sink;
@@ -471,13 +471,13 @@ void testSubscriptionDiscardPending() {
 }
 
 void testHubFailedStartAndShutdown() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::UNKNOWN, 1);
     std::atomic<int> start_attempts{0};
     std::atomic<int> retry_stop_count{0};
-    MediaSourceHub::SourceCallbacks failed_callbacks;
-    failed_callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                                 const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks failed_callbacks;
+    failed_callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                                 const MediaSourceManager::CancelPredicate&) {
         return ++start_attempts >= 2;
     };
     failed_callbacks.stop = [&] { ++retry_stop_count; };
@@ -492,9 +492,9 @@ void testHubFailedStartAndShutdown() {
     CHECK_TRUE(hub.unregisterSource(descriptor->id));
 
     std::atomic<int> stop_count{0};
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [](const MediaSourceHub::FrameSink&,
-                         const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [](const MediaSourceManager::FrameSink&,
+                         const MediaSourceManager::CancelPredicate&) {
         return true;
     };
     callbacks.stop = [&] { ++stop_count; };
@@ -508,13 +508,13 @@ void testHubFailedStartAndShutdown() {
 }
 
 void testHubStopAllSourcesAllowsReregistration() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto first_descriptor = makeVideoDescriptor(Codec::H264, 1);
     std::atomic<int> first_stop_count{0};
 
-    MediaSourceHub::SourceCallbacks first_callbacks;
-    first_callbacks.start = [](const MediaSourceHub::FrameSink&,
-                               const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks first_callbacks;
+    first_callbacks.start = [](const MediaSourceManager::FrameSink&,
+                               const MediaSourceManager::CancelPredicate&) {
         return true;
     };
     first_callbacks.stop = [&] { ++first_stop_count; };
@@ -538,9 +538,9 @@ void testHubStopAllSourcesAllowsReregistration() {
     const auto second_descriptor = makeVideoDescriptor(Codec::H264, 2);
     std::atomic<int> second_start_count{0};
     std::atomic<int> second_stop_count{0};
-    MediaSourceHub::SourceCallbacks second_callbacks;
-    second_callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                                 const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks second_callbacks;
+    second_callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                                 const MediaSourceManager::CancelPredicate&) {
         ++second_start_count;
         return true;
     };
@@ -559,13 +559,13 @@ void testHubStopAllSourcesAllowsReregistration() {
 }
 
 void testStopAllSourcesReportsAndRetriesUnconfirmedStop() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::H264, 1);
     std::atomic<int> stop_attempts{0};
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [](const MediaSourceHub::FrameSink&,
-                         const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [](const MediaSourceManager::FrameSink&,
+                         const MediaSourceManager::CancelPredicate&) {
         return true;
     };
     callbacks.stop_confirmed = [&] {
@@ -590,7 +590,7 @@ void testStopAllSourcesReportsAndRetriesUnconfirmedStop() {
 }
 
 void testStopSourcesForDeviceIsSelectiveAndRetriesFailures() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto front_video = makeVideoDescriptor(
         Codec::H264, 1, {}, "front.video", "camera.front");
     const auto front_depth = makeVideoDescriptor(
@@ -604,10 +604,10 @@ void testStopSourcesForDeviceIsSelectiveAndRetriesFailures() {
     auto register_source = [&](
         const TrackDescriptorPtr& descriptor,
         std::function<bool()> stop_confirmed) {
-        MediaSourceHub::SourceCallbacks callbacks;
+        MediaSourceManager::SourceCallbacks callbacks;
         callbacks.start = [](
-            const MediaSourceHub::FrameSink&,
-            const MediaSourceHub::CancelPredicate&) { return true; };
+            const MediaSourceManager::FrameSink&,
+            const MediaSourceManager::CancelPredicate&) { return true; };
         callbacks.stop_confirmed = std::move(stop_confirmed);
         return hub.registerSource(descriptor, std::move(callbacks), 2);
     };
@@ -665,7 +665,7 @@ void testStopSourcesForDeviceIsSelectiveAndRetriesFailures() {
 }
 
 void testDeviceStopsRunConcurrentlyAndSerializeMatchingRegistration() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto first = makeVideoDescriptor(
         Codec::H264, 1, {}, "first.video", "camera.first");
     const auto second = makeVideoDescriptor(
@@ -677,10 +677,10 @@ void testDeviceStopsRunConcurrentlyAndSerializeMatchingRegistration() {
     auto register_blocking_source = [&](
         const TrackDescriptorPtr& descriptor,
         std::atomic<bool>& entered) {
-        MediaSourceHub::SourceCallbacks callbacks;
+        MediaSourceManager::SourceCallbacks callbacks;
         callbacks.start = [](
-            const MediaSourceHub::FrameSink&,
-            const MediaSourceHub::CancelPredicate&) { return true; };
+            const MediaSourceManager::FrameSink&,
+            const MediaSourceManager::CancelPredicate&) { return true; };
         callbacks.stop = [&entered, &release_stops] {
             entered.store(true, std::memory_order_release);
             while (!release_stops.load(std::memory_order_acquire)) {
@@ -720,10 +720,10 @@ void testDeviceStopsRunConcurrentlyAndSerializeMatchingRegistration() {
     }
     CHECK_TRUE(second_stop_entered.load(std::memory_order_acquire));
 
-    MediaSourceHub::SourceCallbacks replacement_callbacks;
+    MediaSourceManager::SourceCallbacks replacement_callbacks;
     replacement_callbacks.start = [](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) { return true; };
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) { return true; };
     replacement_callbacks.stop = [] {};
     auto matching_registration = std::async(std::launch::async, [&] {
         return hub.registerSource(
@@ -760,7 +760,7 @@ void testDeviceStopsRunConcurrentlyAndSerializeMatchingRegistration() {
 }
 
 void testStopAllWaitsForDeviceStopAndRetainsItsConcurrentRegistrationRule() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto first = makeVideoDescriptor(
         Codec::H264, 1, {}, "first.video", "camera.first");
     const auto other = makeVideoDescriptor(
@@ -769,10 +769,10 @@ void testStopAllWaitsForDeviceStopAndRetainsItsConcurrentRegistrationRule() {
     std::atomic<bool> release_first_stop{false};
     std::atomic<int> other_stops{0};
 
-    MediaSourceHub::SourceCallbacks first_callbacks;
+    MediaSourceManager::SourceCallbacks first_callbacks;
     first_callbacks.start = [](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) { return true; };
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) { return true; };
     first_callbacks.stop = [&] {
         first_stop_entered.store(true, std::memory_order_release);
         while (!release_first_stop.load(std::memory_order_acquire)) {
@@ -798,10 +798,10 @@ void testStopAllWaitsForDeviceStopAndRetainsItsConcurrentRegistrationRule() {
     });
     CHECK_TRUE(stop_all.wait_for(20ms) == std::future_status::timeout);
 
-    MediaSourceHub::SourceCallbacks other_callbacks;
+    MediaSourceManager::SourceCallbacks other_callbacks;
     other_callbacks.start = [](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) { return true; };
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) { return true; };
     other_callbacks.stop = [&] { ++other_stops; };
     CHECK_TRUE(hub.registerSource(other, std::move(other_callbacks), 2));
     auto other_subscription = hub.subscribe(other->id);
@@ -824,15 +824,15 @@ void testStopAllWaitsForDeviceStopAndRetainsItsConcurrentRegistrationRule() {
 }
 
 void testConcurrentRegistrationWaitsForStopAllSources() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::H264, 1);
     std::atomic<bool> stop_entered{false};
     std::atomic<bool> release_stop{false};
     std::atomic<int> old_stop_count{0};
 
-    MediaSourceHub::SourceCallbacks old_callbacks;
-    old_callbacks.start = [](const MediaSourceHub::FrameSink&,
-                             const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks old_callbacks;
+    old_callbacks.start = [](const MediaSourceManager::FrameSink&,
+                             const MediaSourceManager::CancelPredicate&) {
         return true;
     };
     old_callbacks.stop = [&] {
@@ -856,9 +856,9 @@ void testConcurrentRegistrationWaitsForStopAllSources() {
     CHECK_TRUE(stop_entered.load(std::memory_order_acquire));
 
     std::atomic<int> new_start_count{0};
-    MediaSourceHub::SourceCallbacks new_callbacks;
-    new_callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                              const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks new_callbacks;
+    new_callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                              const MediaSourceManager::CancelPredicate&) {
         ++new_start_count;
         return true;
     };
@@ -889,7 +889,7 @@ void testConcurrentRegistrationWaitsForStopAllSources() {
 
 void testSystemStopAllAdmissionFencesRegistrationAndStartup() {
     cmvr::service::StopAllAdmissionGate admission_gate;
-    MediaSourceHub hub(&admission_gate);
+    MediaSourceManager hub(&admission_gate);
     const auto dormant = makeVideoDescriptor(
         Codec::H264, 1, {}, "dormant.video", "camera.dormant");
     const auto new_source = makeVideoDescriptor(
@@ -897,10 +897,10 @@ void testSystemStopAllAdmissionFencesRegistrationAndStartup() {
     std::atomic<int> dormant_starts{0};
     std::atomic<int> new_starts{0};
 
-    MediaSourceHub::SourceCallbacks dormant_callbacks;
+    MediaSourceManager::SourceCallbacks dormant_callbacks;
     dormant_callbacks.start = [&](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) {
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) {
         ++dormant_starts;
         return true;
     };
@@ -911,10 +911,10 @@ void testSystemStopAllAdmissionFencesRegistrationAndStartup() {
     const auto stop_ticket = admission_gate.beginStopAll();
     CHECK_TRUE(stop_ticket.valid());
 
-    MediaSourceHub::SourceCallbacks rejected_callbacks;
+    MediaSourceManager::SourceCallbacks rejected_callbacks;
     rejected_callbacks.start = [&](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) {
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) {
         ++new_starts;
         return true;
     };
@@ -928,10 +928,10 @@ void testSystemStopAllAdmissionFencesRegistrationAndStartup() {
 
     CHECK_TRUE(admission_gate.finishStopAll(stop_ticket, true));
 
-    MediaSourceHub::SourceCallbacks recovered_callbacks;
+    MediaSourceManager::SourceCallbacks recovered_callbacks;
     recovered_callbacks.start = [&](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) {
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) {
         ++new_starts;
         return true;
     };
@@ -949,7 +949,7 @@ void testSystemStopAllAdmissionFencesRegistrationAndStartup() {
 
 void testSystemStopAllRejectsRegistrationWaitingForLocalStop() {
     cmvr::service::StopAllAdmissionGate admission_gate;
-    MediaSourceHub hub(&admission_gate);
+    MediaSourceManager hub(&admission_gate);
     const auto old_source = makeVideoDescriptor(
         Codec::H264, 1, {}, "old.video", "camera.shared");
     const auto replacement = makeVideoDescriptor(
@@ -957,10 +957,10 @@ void testSystemStopAllRejectsRegistrationWaitingForLocalStop() {
     std::atomic<bool> stop_entered{false};
     std::atomic<bool> release_stop{false};
 
-    MediaSourceHub::SourceCallbacks old_callbacks;
+    MediaSourceManager::SourceCallbacks old_callbacks;
     old_callbacks.start = [](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) { return true; };
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) { return true; };
     old_callbacks.stop = [&] {
         stop_entered.store(true, std::memory_order_release);
         while (!release_stop.load(std::memory_order_acquire)) {
@@ -983,10 +983,10 @@ void testSystemStopAllRejectsRegistrationWaitingForLocalStop() {
     CHECK_TRUE(stop_entered.load(std::memory_order_acquire));
 
     auto make_replacement_callbacks = [] {
-        MediaSourceHub::SourceCallbacks callbacks;
+        MediaSourceManager::SourceCallbacks callbacks;
         callbacks.start = [](
-            const MediaSourceHub::FrameSink&,
-            const MediaSourceHub::CancelPredicate&) { return true; };
+            const MediaSourceManager::FrameSink&,
+            const MediaSourceManager::CancelPredicate&) { return true; };
         callbacks.stop = [] {};
         return callbacks;
     };
@@ -1021,17 +1021,17 @@ void testSystemStopAllRejectsRegistrationWaitingForLocalStop() {
 
 void testSystemStopAllRejectsSubscriptionWaitingForLocalStop() {
     cmvr::service::StopAllAdmissionGate admission_gate;
-    MediaSourceHub hub(&admission_gate);
+    MediaSourceManager hub(&admission_gate);
     const auto descriptor = makeVideoDescriptor(
         Codec::H264, 1, {}, "waiting.video", "camera.waiting");
     std::atomic<bool> stop_entered{false};
     std::atomic<bool> release_stop{false};
     std::atomic<int> starts{0};
 
-    MediaSourceHub::SourceCallbacks callbacks;
+    MediaSourceManager::SourceCallbacks callbacks;
     callbacks.start = [&](
-        const MediaSourceHub::FrameSink&,
-        const MediaSourceHub::CancelPredicate&) {
+        const MediaSourceManager::FrameSink&,
+        const MediaSourceManager::CancelPredicate&) {
         ++starts;
         return true;
     };
@@ -1084,15 +1084,15 @@ void testSystemStopAllRejectsSubscriptionWaitingForLocalStop() {
 }
 
 void testStopAllSourcesCancelsStartingSourceBeforeReuse() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::UNKNOWN, 1);
     std::atomic<bool> old_start_entered{false};
     std::atomic<bool> release_old_start{false};
     std::atomic<int> old_stop_count{0};
 
-    MediaSourceHub::SourceCallbacks old_callbacks;
-    old_callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                              const MediaSourceHub::CancelPredicate& cancelled) {
+    MediaSourceManager::SourceCallbacks old_callbacks;
+    old_callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                              const MediaSourceManager::CancelPredicate& cancelled) {
         old_start_entered.store(true, std::memory_order_release);
         while (!release_old_start.load(std::memory_order_acquire)) {
             if (cancelled()) {
@@ -1134,9 +1134,9 @@ void testStopAllSourcesCancelsStartingSourceBeforeReuse() {
     CHECK_TRUE(hub.stopAllSources());
 
     std::atomic<int> new_start_count{0};
-    MediaSourceHub::SourceCallbacks new_callbacks;
-    new_callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                              const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks new_callbacks;
+    new_callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                              const MediaSourceManager::CancelPredicate&) {
         ++new_start_count;
         return true;
     };
@@ -1150,15 +1150,15 @@ void testStopAllSourcesCancelsStartingSourceBeforeReuse() {
 }
 
 void testKeyFrameRequestIsOrderedBeforeStop() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::H264, 1);
     std::atomic<bool> key_frame_entered{false};
     std::atomic<bool> release_key_frame{false};
     std::atomic<int> stop_count{0};
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [](const MediaSourceHub::FrameSink&,
-                         const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [](const MediaSourceManager::FrameSink&,
+                         const MediaSourceManager::CancelPredicate&) {
         return true;
     };
     callbacks.stop = [&] { ++stop_count; };
@@ -1196,14 +1196,14 @@ void testKeyFrameRequestIsOrderedBeforeStop() {
 }
 
 void testHubCancelsBlockedStartWithoutBlockingShutdown() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::UNKNOWN, 1);
     std::atomic<bool> start_entered{false};
     std::atomic<bool> start_exited{false};
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                          const MediaSourceHub::CancelPredicate& cancelled) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                          const MediaSourceManager::CancelPredicate& cancelled) {
         start_entered.store(true, std::memory_order_release);
         while (!cancelled()) {
             std::this_thread::sleep_for(2ms);
@@ -1246,16 +1246,16 @@ void testHubCancelsBlockedStartWithoutBlockingShutdown() {
 }
 
 void testHubQuarantinesNonCooperativeStart() {
-    MediaSourceHub hub;
+    MediaSourceManager hub;
     const auto descriptor = makeVideoDescriptor(Codec::UNKNOWN, 1);
     std::atomic<bool> start_entered{false};
     std::atomic<bool> release_start{false};
     std::atomic<bool> start_exited{false};
     std::atomic<int> stop_count{0};
 
-    MediaSourceHub::SourceCallbacks callbacks;
-    callbacks.start = [&](const MediaSourceHub::FrameSink&,
-                          const MediaSourceHub::CancelPredicate&) {
+    MediaSourceManager::SourceCallbacks callbacks;
+    callbacks.start = [&](const MediaSourceManager::FrameSink&,
+                          const MediaSourceManager::CancelPredicate&) {
         start_entered.store(true, std::memory_order_release);
         while (!release_start.load(std::memory_order_acquire)) {
             std::this_thread::sleep_for(2ms);
@@ -1330,9 +1330,9 @@ int main() {
     testHubQuarantinesNonCooperativeStart();
 
     if (failures != 0) {
-        std::cerr << failures << " media_source_hub checks failed\n";
+        std::cerr << failures << " media_source_manager checks failed\n";
         return 1;
     }
-    std::cout << "media_source_hub self-test passed\n";
+    std::cout << "media_source_manager self-test passed\n";
     return 0;
 }

cmvr-es/manager/safety_manager/CMakeLists.txt

@@ -1,28 +1,28 @@
-add_library(safety_coordinator STATIC
+add_library(safety_manager STATIC
         src/command_ledger.cpp
-        src/safety_coordinator.cpp
+        src/safety_manager.cpp
         src/safety_reason.cpp
         src/safety_snapshot_store.cpp
 )
 
-target_include_directories(safety_coordinator PUBLIC
+target_include_directories(safety_manager PUBLIC
         ${CMAKE_CURRENT_SOURCE_DIR}
         ${CMAKE_SOURCE_DIR}/cmvr-es
 )
 
-target_link_libraries(safety_coordinator PUBLIC
-        cmvr_es::control_authority
+target_link_libraries(safety_manager PUBLIC
+        cmvr_es::control_authority_manager
 )
 
-add_library(cmvr_es::safety_coordinator ALIAS safety_coordinator)
-install(TARGETS safety_coordinator LIBRARY DESTINATION lib)
+add_library(cmvr_es::safety_manager ALIAS safety_manager)
+install(TARGETS safety_manager LIBRARY DESTINATION lib)
 
 if(BUILD_TESTING)
     add_executable(safety_snapshot_store_test
             tests/safety_snapshot_store_test.cpp
     )
     target_link_libraries(safety_snapshot_store_test PRIVATE
-            cmvr_es::safety_coordinator
+            cmvr_es::safety_manager
             gtest
             gtest_main
             pthread
@@ -37,7 +37,7 @@ if(BUILD_TESTING)
             tests/command_ledger_test.cpp
     )
     target_link_libraries(command_ledger_test PRIVATE
-            cmvr_es::safety_coordinator
+            cmvr_es::safety_manager
             gtest
             gtest_main
             pthread
@@ -48,18 +48,18 @@ if(BUILD_TESTING)
     )
     set_tests_properties(command_ledger_test PROPERTIES TIMEOUT 10)
 
-    add_executable(safety_coordinator_test
-            tests/safety_coordinator_test.cpp
+    add_executable(safety_manager_test
+            tests/safety_manager_test.cpp
     )
-    target_link_libraries(safety_coordinator_test PRIVATE
-            cmvr_es::safety_coordinator
+    target_link_libraries(safety_manager_test PRIVATE
+            cmvr_es::safety_manager
             gtest
             gtest_main
             pthread
     )
     add_test(
-            NAME safety_coordinator_test
-            COMMAND safety_coordinator_test
+            NAME safety_manager_test
+            COMMAND safety_manager_test
     )
-    set_tests_properties(safety_coordinator_test PROPERTIES TIMEOUT 15)
+    set_tests_properties(safety_manager_test PROPERTIES TIMEOUT 15)
 endif()

cmvr-es/manager/safety_manager/include/command_ledger.h

@@ -9,7 +9,7 @@
 #include <string>
 #include <unordered_map>
 
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/include/device_safety_endpoint.h

@@ -3,7 +3,7 @@
 #include <functional>
 #include <memory>
 
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/include/safety_manager.h

@@ -10,14 +10,14 @@
 #include <unordered_set>
 #include <vector>
 
-#include "manager/safety/include/command_ledger.h"
-#include "manager/safety/include/device_safety_endpoint.h"
-#include "manager/safety/include/safety_participant.h"
-#include "manager/safety/include/safety_snapshot_store.h"
+#include "manager/safety_manager/include/command_ledger.h"
+#include "manager/safety_manager/include/device_safety_endpoint.h"
+#include "manager/safety_manager/include/safety_participant.h"
+#include "manager/safety_manager/include/safety_snapshot_store.h"
 
 namespace cmvr::safety {
 
-struct SafetyCoordinatorConfig {
+struct SafetyManagerConfig {
     EnforcementMode enforcement_mode{EnforcementMode::Shadow};
     std::unordered_set<std::string> enforced_device_ids;
     std::chrono::milliseconds stop_all_timeout{15000};
@@ -72,7 +72,7 @@ struct ParticipantSafetyStateView {
     ParticipantResultView last_release;
 };
 
-struct SafetyCoordinatorSnapshot {
+struct SafetyManagerSnapshot {
     SystemAdmissionState system_state{SystemAdmissionState::Starting};
     std::uint64_t safety_epoch{0};
     std::string service_instance_id;
@@ -135,7 +135,7 @@ struct RecoveryResult {
     std::vector<SafetyTargetResult> targets;
 };
 
-class SafetyCoordinator;
+class SafetyManager;
 
 class DispatchGuard final {
 public:
@@ -153,23 +153,23 @@ public:
     }
 
 private:
-    friend class SafetyCoordinator;
-    DispatchGuard(SafetyCoordinator* coordinator,
+    friend class SafetyManager;
+    DispatchGuard(SafetyManager* coordinator,
                   std::string device_id,
                   HardwareCheckResult hardware_check) noexcept;
     void reset_() noexcept;
 
-    SafetyCoordinator* coordinator_{nullptr};
+    SafetyManager* coordinator_{nullptr};
     std::string device_id_;
     HardwareCheckResult hardware_check_;
 };
 
-class SafetyCoordinator final {
+class SafetyManager final {
 public:
-    explicit SafetyCoordinator(SafetyCoordinatorConfig config = {});
-    ~SafetyCoordinator();
-    SafetyCoordinator(const SafetyCoordinator&) = delete;
-    SafetyCoordinator& operator=(const SafetyCoordinator&) = delete;
+    explicit SafetyManager(SafetyManagerConfig config = {});
+    ~SafetyManager();
+    SafetyManager(const SafetyManager&) = delete;
+    SafetyManager& operator=(const SafetyManager&) = delete;
 
     bool registerDevice(DeviceSafetyRegistration registration);
     bool unregisterDevice(const std::string& device_id);
@@ -205,13 +205,13 @@ public:
         SafetyClock::time_point deadline = SafetyClock::time_point::max());
     RecoveryResult recover(const RecoveryRequest& request);
 
-    SafetyCoordinatorSnapshot snapshot() const;
+    SafetyManagerSnapshot snapshot() const;
     SafetySnapshotStore& snapshotStore() noexcept;
     const SafetySnapshotStore& snapshotStore() const noexcept;
     CommandLedger& commandLedger() noexcept;
     const CommandLedger& commandLedger() const noexcept;
     const std::string& serviceInstanceId() const noexcept;
-    const SafetyCoordinatorConfig& config() const noexcept;
+    const SafetyManagerConfig& config() const noexcept;
 
 private:
     friend class DispatchGuard;

cmvr-es/manager/safety_manager/include/safety_participant.h

@@ -5,7 +5,7 @@
 #include <memory>
 #include <string>
 
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/include/safety_snapshot_store.h

@@ -7,7 +7,7 @@
 #include <unordered_map>
 #include <vector>
 
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/include/safety_types.h

@@ -7,7 +7,7 @@
 #include <vector>
 
 #include "devices/device_types.h"
-#include "manager/safety/include/safety_reason.h"
+#include "manager/safety_manager/include/safety_reason.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/src/command_ledger.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/command_ledger.h"
+#include "manager/safety_manager/include/command_ledger.h"
 
 #include <algorithm>
 #include <cctype>

cmvr-es/manager/safety_manager/src/safety_manager.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/safety_manager/include/safety_manager.h"
 
 #include <algorithm>
 #include <atomic>
@@ -187,10 +187,10 @@ int phaseRank(const ParticipantPhase phase) noexcept
 
 } // namespace
 
-struct SafetyCoordinator::Impl {
+struct SafetyManager::Impl {
     struct PublisherBinding {
         std::atomic<bool> active{true};
-        SafetyCoordinator* coordinator{nullptr};
+        SafetyManager* coordinator{nullptr};
     };
 
     struct DeviceSlot {
@@ -240,7 +240,7 @@ struct SafetyCoordinator::Impl {
         RecoveryResult result;
     };
 
-    explicit Impl(SafetyCoordinatorConfig source)
+    explicit Impl(SafetyManagerConfig source)
         : config(std::move(source)),
           ledger(config.command_ledger),
           service_instance_id(makeInstanceId()),
@@ -249,7 +249,7 @@ struct SafetyCoordinator::Impl {
         if (config.stop_all_timeout <= std::chrono::milliseconds::zero() ||
             config.recovery_timeout <= std::chrono::milliseconds::zero() ||
             config.event_history_capacity == 0) {
-            throw std::invalid_argument("invalid SafetyCoordinatorConfig");
+            throw std::invalid_argument("invalid SafetyManagerConfig");
         }
     }
 
@@ -339,7 +339,7 @@ struct SafetyCoordinator::Impl {
         return false;
     }
 
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     SafetySnapshotStore snapshots;
     CommandLedger ledger;
     const std::string service_instance_id;
@@ -367,7 +367,7 @@ struct SafetyCoordinator::Impl {
 };
 
 DispatchGuard::DispatchGuard(
-    SafetyCoordinator* coordinator,
+    SafetyManager* coordinator,
     std::string device_id,
     HardwareCheckResult hardware_check) noexcept
     : coordinator_(coordinator),
@@ -408,12 +408,12 @@ void DispatchGuard::reset_() noexcept
     coordinator->endDispatch_(device_id_);
 }
 
-SafetyCoordinator::SafetyCoordinator(SafetyCoordinatorConfig config)
+SafetyManager::SafetyManager(SafetyManagerConfig config)
     : impl_(std::make_unique<Impl>(std::move(config)))
 {
 }
 
-SafetyCoordinator::~SafetyCoordinator()
+SafetyManager::~SafetyManager()
 {
     beginShutdown();
     std::vector<std::shared_ptr<DeviceSafetyEndpoint>> endpoints;
@@ -436,7 +436,7 @@ SafetyCoordinator::~SafetyCoordinator()
     }
 }
 
-bool SafetyCoordinator::registerDevice(DeviceSafetyRegistration registration)
+bool SafetyManager::registerDevice(DeviceSafetyRegistration registration)
 {
     if (registration.descriptor.device_id.empty() ||
         registration.descriptor.maximum_snapshot_age <=
@@ -531,7 +531,7 @@ bool SafetyCoordinator::registerDevice(DeviceSafetyRegistration registration)
     return true;
 }
 
-bool SafetyCoordinator::unregisterDevice(const std::string& device_id)
+bool SafetyManager::unregisterDevice(const std::string& device_id)
 {
     std::shared_ptr<DeviceSafetyEndpoint> endpoint;
     std::string participant_id;
@@ -576,7 +576,7 @@ bool SafetyCoordinator::unregisterDevice(const std::string& device_id)
     return true;
 }
 
-bool SafetyCoordinator::registerParticipant(
+bool SafetyManager::registerParticipant(
     std::shared_ptr<SafetyParticipant> participant)
 {
     if (!participant) {
@@ -597,7 +597,7 @@ bool SafetyCoordinator::registerParticipant(
     return true;
 }
 
-bool SafetyCoordinator::unregisterParticipant(
+bool SafetyManager::unregisterParticipant(
     const std::string& participant_id)
 {
     std::lock_guard lock(impl_->mutex);
@@ -615,7 +615,7 @@ bool SafetyCoordinator::unregisterParticipant(
     return true;
 }
 
-void SafetyCoordinator::updateDeviceRuntimeState(
+void SafetyManager::updateDeviceRuntimeState(
     const std::string& device_id,
     const device::ManagedDeviceState lifecycle,
     device::DeviceHealthSnapshot health)
@@ -633,7 +633,7 @@ void SafetyCoordinator::updateDeviceRuntimeState(
     impl_->state_changed.notify_all();
 }
 
-bool SafetyCoordinator::publishSafetySnapshot(DeviceSafetySnapshot snapshot)
+bool SafetyManager::publishSafetySnapshot(DeviceSafetySnapshot snapshot)
 {
     const std::string device_id = snapshot.device_id;
     if (!impl_->snapshots.publish(std::move(snapshot))) {
@@ -679,7 +679,7 @@ bool SafetyCoordinator::publishSafetySnapshot(DeviceSafetySnapshot snapshot)
     return true;
 }
 
-std::optional<std::uint64_t> SafetyCoordinator::advanceDeviceGeneration(
+std::optional<std::uint64_t> SafetyManager::advanceDeviceGeneration(
     const std::string& device_id)
 {
     const auto generation = impl_->snapshots.bumpGeneration(device_id);
@@ -709,7 +709,7 @@ std::optional<std::uint64_t> SafetyCoordinator::advanceDeviceGeneration(
     return generation;
 }
 
-StartupCoverageResult SafetyCoordinator::validateStartupCoverage(
+StartupCoverageResult SafetyManager::validateStartupCoverage(
     const SafetyClock::time_point deadline)
 {
     struct Target {
@@ -844,7 +844,7 @@ StartupCoverageResult SafetyCoordinator::validateStartupCoverage(
     return result;
 }
 
-void SafetyCoordinator::markStartupComplete()
+void SafetyManager::markStartupComplete()
 {
     std::lock_guard lock(impl_->mutex);
     if (impl_->system_state != SystemAdmissionState::Starting) {
@@ -863,7 +863,7 @@ void SafetyCoordinator::markStartupComplete()
     impl_->state_changed.notify_all();
 }
 
-void SafetyCoordinator::beginShutdown() noexcept
+void SafetyManager::beginShutdown() noexcept
 {
     if (!impl_) {
         return;
@@ -885,7 +885,7 @@ void SafetyCoordinator::beginShutdown() noexcept
     }
 }
 
-AdmissionDecision SafetyCoordinator::evaluate(
+AdmissionDecision SafetyManager::evaluate(
     const AdmissionRequest& request) const
 {
     AdmissionDecision decision;
@@ -1039,7 +1039,7 @@ AdmissionDecision SafetyCoordinator::evaluate(
     return allow();
 }
 
-AdmissionResult SafetyCoordinator::admit(const AdmissionRequest& request)
+AdmissionResult SafetyManager::admit(const AdmissionRequest& request)
 {
     AdmissionResult result;
     result.decision = evaluate(request);
@@ -1060,7 +1060,7 @@ AdmissionResult SafetyCoordinator::admit(const AdmissionRequest& request)
     return result;
 }
 
-HardwareCheckResult SafetyCoordinator::revalidatePermit(
+HardwareCheckResult SafetyManager::revalidatePermit(
     const AdmissionPermit& permit) const
 {
     const auto rejected = [](const SafetyReason reason, std::string detail) {
@@ -1114,7 +1114,7 @@ HardwareCheckResult SafetyCoordinator::revalidatePermit(
     return {true, SafetyReason::None, {}};
 }
 
-DispatchGuard SafetyCoordinator::beginDispatch(
+DispatchGuard SafetyManager::beginDispatch(
     const AdmissionPermit& permit)
 {
     const auto rejected = [&permit](
@@ -1205,7 +1205,7 @@ DispatchGuard SafetyCoordinator::beginDispatch(
     return DispatchGuard(this, permit.device_id, std::move(hardware_check));
 }
 
-void SafetyCoordinator::endDispatch_(const std::string& device_id) noexcept
+void SafetyManager::endDispatch_(const std::string& device_id) noexcept
 {
     try {
         std::lock_guard lock(impl_->mutex);
@@ -1219,7 +1219,7 @@ void SafetyCoordinator::endDispatch_(const std::string& device_id) noexcept
     }
 }
 
-void SafetyCoordinator::quarantineDevice(
+void SafetyManager::quarantineDevice(
     const std::string& device_id,
     const SafetyReason reason,
     std::string operation_id)
@@ -1245,7 +1245,7 @@ void SafetyCoordinator::quarantineDevice(
     impl_->state_changed.notify_all();
 }
 
-StopAllResult SafetyCoordinator::stopAll(
+StopAllResult SafetyManager::stopAll(
     std::string operation_id,
     SafetyClock::time_point deadline)
 {
@@ -1754,7 +1754,7 @@ StopAllResult SafetyCoordinator::stopAll(
     return result;
 }
 
-RecoveryResult SafetyCoordinator::recover(const RecoveryRequest& request)
+RecoveryResult SafetyManager::recover(const RecoveryRequest& request)
 {
     RecoveryResult invalid;
     invalid.recovery_id = request.recovery_id;
@@ -2323,9 +2323,9 @@ RecoveryResult SafetyCoordinator::recover(const RecoveryRequest& request)
     return result;
 }
 
-SafetyCoordinatorSnapshot SafetyCoordinator::snapshot() const
+SafetyManagerSnapshot SafetyManager::snapshot() const
 {
-    SafetyCoordinatorSnapshot result;
+    SafetyManagerSnapshot result;
     std::lock_guard lock(impl_->mutex);
     result.system_state = impl_->system_state;
     result.safety_epoch = impl_->safety_epoch;
@@ -2376,32 +2376,32 @@ SafetyCoordinatorSnapshot SafetyCoordinator::snapshot() const
     return result;
 }
 
-SafetySnapshotStore& SafetyCoordinator::snapshotStore() noexcept
+SafetySnapshotStore& SafetyManager::snapshotStore() noexcept
 {
     return impl_->snapshots;
 }
 
-const SafetySnapshotStore& SafetyCoordinator::snapshotStore() const noexcept
+const SafetySnapshotStore& SafetyManager::snapshotStore() const noexcept
 {
     return impl_->snapshots;
 }
 
-CommandLedger& SafetyCoordinator::commandLedger() noexcept
+CommandLedger& SafetyManager::commandLedger() noexcept
 {
     return impl_->ledger;
 }
 
-const CommandLedger& SafetyCoordinator::commandLedger() const noexcept
+const CommandLedger& SafetyManager::commandLedger() const noexcept
 {
     return impl_->ledger;
 }
 
-const std::string& SafetyCoordinator::serviceInstanceId() const noexcept
+const std::string& SafetyManager::serviceInstanceId() const noexcept
 {
     return impl_->service_instance_id;
 }
 
-const SafetyCoordinatorConfig& SafetyCoordinator::config() const noexcept
+const SafetyManagerConfig& SafetyManager::config() const noexcept
 {
     return impl_->config;
 }

cmvr-es/manager/safety_manager/src/safety_reason.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/safety_reason.h"
+#include "manager/safety_manager/include/safety_reason.h"
 
 namespace cmvr::safety {
 

cmvr-es/manager/safety_manager/src/safety_snapshot_store.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/safety_snapshot_store.h"
+#include "manager/safety_manager/include/safety_snapshot_store.h"
 
 #include <algorithm>
 #include <limits>

cmvr-es/manager/safety_manager/tests/command_ledger_test.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/command_ledger.h"
+#include "manager/safety_manager/include/command_ledger.h"
 
 #include <atomic>
 #include <chrono>

cmvr-es/manager/safety_manager/tests/safety_manager_test.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/safety_manager/include/safety_manager.h"
 
 #include <atomic>
 #include <chrono>
@@ -166,9 +166,9 @@ AdmissionRequest actuateRequest()
     return request;
 }
 
-TEST(SafetyCoordinatorTest, ShadowReportsDenyWithoutChangingLegacyBehavior)
+TEST(SafetyManagerTest, ShadowReportsDenyWithoutChangingLegacyBehavior)
 {
-    SafetyCoordinator coordinator;
+    SafetyManager coordinator;
     ASSERT_TRUE(coordinator.registerDevice({controlDescriptor(), {}, {}}));
     coordinator.markStartupComplete();
 
@@ -180,22 +180,22 @@ TEST(SafetyCoordinatorTest, ShadowReportsDenyWithoutChangingLegacyBehavior)
     EXPECT_TRUE(result.permit.has_value());
 }
 
-TEST(SafetyCoordinatorTest,
+TEST(SafetyManagerTest,
      EnforceSelectedStartupRejectsEmptyOrUnknownCoverage)
 {
-    SafetyCoordinatorConfig empty_config;
+    SafetyManagerConfig empty_config;
     empty_config.enforcement_mode = EnforcementMode::EnforceSelected;
-    SafetyCoordinator empty(empty_config);
+    SafetyManager empty(empty_config);
     const auto empty_result = empty.validateStartupCoverage(
         SafetyClock::now() + std::chrono::milliseconds(10));
     ASSERT_FALSE(empty_result.ready);
     ASSERT_EQ(empty_result.issues.size(), 1U);
     EXPECT_EQ(empty_result.issues.front().reason, SafetyReason::InvalidArgument);
 
-    SafetyCoordinatorConfig missing_config;
+    SafetyManagerConfig missing_config;
     missing_config.enforcement_mode = EnforcementMode::EnforceSelected;
     missing_config.enforced_device_ids.insert("missing-arm");
-    SafetyCoordinator missing(missing_config);
+    SafetyManager missing(missing_config);
     const auto missing_result = missing.validateStartupCoverage(
         SafetyClock::now() + std::chrono::milliseconds(10));
     ASSERT_FALSE(missing_result.ready);
@@ -204,13 +204,13 @@ TEST(SafetyCoordinatorTest,
     EXPECT_EQ(missing_result.issues.front().reason, SafetyReason::DeviceNotFound);
 }
 
-TEST(SafetyCoordinatorTest,
+TEST(SafetyManagerTest,
      EnforceAllStartupRequiresEndpointParticipantAndFreshSnapshot)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
 
-    SafetyCoordinator missing_capability(config);
+    SafetyManager missing_capability(config);
     ASSERT_TRUE(missing_capability.registerDevice(
         {controlDescriptor(), {}, {}}));
     const auto structural = missing_capability.validateStartupCoverage(
@@ -218,7 +218,7 @@ TEST(SafetyCoordinatorTest,
     EXPECT_FALSE(structural.ready);
     EXPECT_EQ(structural.issues.size(), 2U);
 
-    SafetyCoordinator missing_sample(config);
+    SafetyManager missing_sample(config);
     auto silent_endpoint =
         std::make_shared<FakeEndpoint>(controlDescriptor());
     silent_endpoint->publish_on_refresh = false;
@@ -233,12 +233,12 @@ TEST(SafetyCoordinatorTest,
     EXPECT_EQ(stale.issues.front().reason, SafetyReason::SafetyStateMissing);
 }
 
-TEST(SafetyCoordinatorTest,
+TEST(SafetyManagerTest,
      HardwareUnsafeSnapshotBlocksAdmissionButNotStructuralStartup)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     endpoint->condition = SafetyCondition::Unsafe;
     endpoint->emergency_stop = TriState::True;
@@ -258,11 +258,11 @@ TEST(SafetyCoordinatorTest,
         admission.decision.reason, SafetyReason::EmergencyStopActive);
 }
 
-TEST(SafetyCoordinatorTest, EnforceAllFailsClosedOnUnknownControlState)
+TEST(SafetyManagerTest, EnforceAllFailsClosedOnUnknownControlState)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     ASSERT_TRUE(coordinator.registerDevice({controlDescriptor(), {}, {}}));
     coordinator.markStartupComplete();
 
@@ -273,11 +273,11 @@ TEST(SafetyCoordinatorTest, EnforceAllFailsClosedOnUnknownControlState)
     EXPECT_FALSE(result.permit.has_value());
 }
 
-TEST(SafetyCoordinatorTest, ControlSafetyBitsMustBeExplicitlyFalse)
+TEST(SafetyManagerTest, ControlSafetyBitsMustBeExplicitlyFalse)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     endpoint->protective_stop = TriState::Unknown;
     ASSERT_TRUE(coordinator.registerDevice(
@@ -296,11 +296,11 @@ TEST(SafetyCoordinatorTest, ControlSafetyBitsMustBeExplicitlyFalse)
         DeviceAdmissionState::Blocked);
 }
 
-TEST(SafetyCoordinatorTest, EnforcedDispatchRunsFinalHardwareCheck)
+TEST(SafetyManagerTest, EnforcedDispatchRunsFinalHardwareCheck)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     ASSERT_TRUE(coordinator.registerDevice(
         {controlDescriptor(), endpoint, {}}));
@@ -317,12 +317,12 @@ TEST(SafetyCoordinatorTest, EnforcedDispatchRunsFinalHardwareCheck)
     EXPECT_EQ(endpoint->hardware_checks.load(), 1);
 }
 
-TEST(SafetyCoordinatorTest,
+TEST(SafetyManagerTest,
      StartActivityMayEnterFromRestrictedButActuationMayNot)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     endpoint->condition = SafetyCondition::Restricted;
     endpoint->ready = TriState::False;
@@ -346,11 +346,11 @@ TEST(SafetyCoordinatorTest,
     EXPECT_EQ(actuation.decision.reason, SafetyReason::HardwareUnsafe);
 }
 
-TEST(SafetyCoordinatorTest, SuccessfulStopInvalidatesOldPermitAndReopens)
+TEST(SafetyManagerTest, SuccessfulStopInvalidatesOldPermitAndReopens)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     auto participant = std::make_shared<FakeParticipant>();
     ASSERT_TRUE(coordinator.registerDevice(
@@ -388,11 +388,11 @@ TEST(SafetyCoordinatorTest, SuccessfulStopInvalidatesOldPermitAndReopens)
     EXPECT_TRUE(snapshot.participants.front().last_release.success);
 }
 
-TEST(SafetyCoordinatorTest, FailedStopRequiresVerifiedRecovery)
+TEST(SafetyManagerTest, FailedStopRequiresVerifiedRecovery)
 {
-    SafetyCoordinatorConfig config;
+    SafetyManagerConfig config;
     config.enforcement_mode = EnforcementMode::EnforceAll;
-    SafetyCoordinator coordinator(config);
+    SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     auto participant = std::make_shared<FakeParticipant>();
     participant->verify_result = {
@@ -437,9 +437,9 @@ TEST(SafetyCoordinatorTest, FailedStopRequiresVerifiedRecovery)
     EXPECT_TRUE(reopened.participants.front().last_release.success);
 }
 
-TEST(SafetyCoordinatorTest, RecoveryCannotIgnoreEmergencyStop)
+TEST(SafetyManagerTest, RecoveryCannotIgnoreEmergencyStop)
 {
-    SafetyCoordinator coordinator;
+    SafetyManager coordinator;
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     auto participant = std::make_shared<FakeParticipant>();
     ASSERT_TRUE(coordinator.registerDevice(
@@ -466,9 +466,9 @@ TEST(SafetyCoordinatorTest, RecoveryCannotIgnoreEmergencyStop)
     EXPECT_EQ(endpoint->recoveries.load(), 0);
 }
 
-TEST(SafetyCoordinatorTest, RecoveryAuditFailureCannotReleaseLatch)
+TEST(SafetyManagerTest, RecoveryAuditFailureCannotReleaseLatch)
 {
-    SafetyCoordinator coordinator;
+    SafetyManager coordinator;
     auto endpoint = std::make_shared<FakeEndpoint>(controlDescriptor());
     auto participant = std::make_shared<FakeParticipant>();
     participant->verify_result = {

cmvr-es/manager/safety_manager/tests/safety_snapshot_store_test.cpp

@@ -1,4 +1,4 @@
-#include "manager/safety/include/safety_snapshot_store.h"
+#include "manager/safety_manager/include/safety_snapshot_store.h"
 
 #include <atomic>
 #include <chrono>

cmvr-es/manager/task_manager/src/task_manager.cpp

@@ -9,7 +9,7 @@
 
 #include "common/base/logging/logger.h"
 #include "common/config/config_files.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 #include "task/task_factory.h"
 
 using namespace cmvr;

cmvr-es/manager/task_manager/tests/task_manager_lifecycle_test.cpp

@@ -12,7 +12,7 @@
 
 #include <gtest/gtest.h>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 #include "task/task_factory.h"
 
 namespace {

cmvr-es/service/CMakeLists.txt

@@ -1,548 +1,4 @@
-
-add_library(service
-        stop_all/src/stop_operation_dispatcher.cpp
-        action/src/action_queue_executor.cpp
-        grpc/src/camera_ptz_activity_registry.cpp
-        grpc/src/media_activity_coordinator.cpp
-        grpc/src/motor_activity_coordinator.cpp
-        grpc/src/grpc_camera_service.cpp
-        grpc/src/grpc_command_transaction.cpp
-        grpc/src/grpc_error_logging_interceptor.cpp
-        grpc/src/grpc_recovery_audit.cpp
-        grpc/src/grpc_safety_proto.cpp
-        grpc/src/grpc_safety_participants.cpp
-        grpc/src/grpc_security.cpp
-        grpc/src/grpc_system_service.cpp
-        grpc/src/grpc_speaker_service.cpp
-        grpc/src/grpc_microphone_service.cpp
-        grpc/src/grpc_head_service.cpp
-        grpc/src/grpc_dexhand_service.cpp
-        grpc/src/grpc_arm_service.cpp
-        grpc/src/grpc_arm_teleop_service.cpp
-        grpc/src/grpc_robot_arm_teleop_backend.cpp
-        grpc/src/grpc_motor_service.cpp
-        grpc/src/grpc_agv_service.cpp
-        grpc/src/grpc_hlc_service.cpp
-        ../task/grpc_server_task/src/grpc_server_task.cpp
-)
-
-target_include_directories(service PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-
-target_link_libraries(service PRIVATE
-        cmvr_es::proto
-        cmvr_es::stop_all_admission_gate
-        cmvr_es::camera_operational_activity_registry
-        osqp
-        cmvr_es::control_authority
-        cmvr_es::device_manager
-        cmvr_es::task_manager
-        cmvr_es::algorithms::controller
-        cmvr_es::task
-        cmvr_es::media_source_hub
-        cmvr_es::device_media_source_adapter
-        protobuf::libprotobuf
-)
-
-add_library(cmvr_es::service ALIAS service)
-install(TARGETS service LIBRARY DESTINATION lib)
-
-if(BUILD_TESTING)
-    add_executable(stop_all_admission_gate_test
-            stop_all/tests/stop_all_admission_gate_test.cpp
-            stop_all/src/stop_all_admission_gate.cpp
-    )
-    target_include_directories(stop_all_admission_gate_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(stop_all_admission_gate_test PRIVATE
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME stop_all_admission_gate_test
-            COMMAND stop_all_admission_gate_test
-    )
-    set_tests_properties(stop_all_admission_gate_test PROPERTIES TIMEOUT 10)
-
-    add_executable(stop_operation_dispatcher_test
-            stop_all/tests/stop_operation_dispatcher_test.cpp
-            stop_all/src/stop_operation_dispatcher.cpp
-    )
-    target_include_directories(stop_operation_dispatcher_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(stop_operation_dispatcher_test PRIVATE
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME stop_operation_dispatcher_test
-            COMMAND stop_operation_dispatcher_test
-    )
-    set_tests_properties(stop_operation_dispatcher_test PROPERTIES TIMEOUT 10)
-
-    add_executable(camera_operational_activity_registry_test
-            grpc/tests/camera_operational_activity_registry_test.cpp
-    )
-    target_include_directories(camera_operational_activity_registry_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(camera_operational_activity_registry_test PRIVATE
-            cmvr_es::proto
-            cmvr_es::camera_operational_activity_registry
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME camera_operational_activity_registry_test
-            COMMAND camera_operational_activity_registry_test
-    )
-    set_tests_properties(camera_operational_activity_registry_test PROPERTIES
-            TIMEOUT 10)
-
-    add_executable(camera_ptz_activity_registry_test
-            grpc/tests/camera_ptz_activity_registry_test.cpp
-            grpc/src/camera_ptz_activity_registry.cpp
-            stop_all/src/stop_all_admission_gate.cpp
-    )
-    target_include_directories(camera_ptz_activity_registry_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(camera_ptz_activity_registry_test PRIVATE
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME camera_ptz_activity_registry_test
-            COMMAND camera_ptz_activity_registry_test
-    )
-    set_tests_properties(camera_ptz_activity_registry_test PROPERTIES TIMEOUT 10)
-
-    add_executable(media_activity_coordinator_test
-            grpc/tests/media_activity_coordinator_test.cpp
-            grpc/src/media_activity_coordinator.cpp
-            stop_all/src/stop_all_admission_gate.cpp
-    )
-    target_include_directories(media_activity_coordinator_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(media_activity_coordinator_test PRIVATE
-            cmvr_es::logging
-            pthread
-    )
-    add_test(
-            NAME media_activity_coordinator_test
-            COMMAND media_activity_coordinator_test
-    )
-    set(_grpc_media_test_environment
-            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
-    )
-    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
-        list(APPEND _grpc_media_test_environment
-                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
-    endif()
-    set_tests_properties(media_activity_coordinator_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_media_test_environment}"
-    )
-
-    add_executable(motor_activity_coordinator_test
-            grpc/tests/motor_activity_coordinator_test.cpp
-            grpc/src/motor_activity_coordinator.cpp
-    )
-    target_include_directories(motor_activity_coordinator_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(motor_activity_coordinator_test PRIVATE
-            cmvr_es::logging
-            pthread
-    )
-    add_test(
-            NAME motor_activity_coordinator_test
-            COMMAND motor_activity_coordinator_test
-    )
-    set_tests_properties(motor_activity_coordinator_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_media_test_environment}"
-    )
-
-    add_executable(grpc_camera_stream_policy_test
-            grpc/tests/grpc_camera_stream_policy_test.cpp
-    )
-    target_include_directories(grpc_camera_stream_policy_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    add_test(
-            NAME grpc_camera_stream_policy_test
-            COMMAND grpc_camera_stream_policy_test
-    )
-    set_tests_properties(grpc_camera_stream_policy_test PROPERTIES TIMEOUT 10)
-
-    add_executable(grpc_system_service_test
-            grpc/tests/grpc_system_service_test.cpp
-    )
-    target_include_directories(grpc_system_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_system_service_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_system_service_test
-            COMMAND grpc_system_service_test
-    )
-    set(_grpc_system_test_environment
-            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
-    )
-    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
-        list(APPEND _grpc_system_test_environment
-                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
-    endif()
-    set_tests_properties(grpc_system_service_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_error_logging_interceptor_test
-            grpc/tests/grpc_error_logging_interceptor_test.cpp
-            grpc/src/grpc_error_logging_interceptor.cpp
-    )
-    target_include_directories(grpc_error_logging_interceptor_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(grpc_error_logging_interceptor_test
-            PRIVATE
-            cmvr_es::logging
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_error_logging_interceptor_test
-            COMMAND grpc_error_logging_interceptor_test
-    )
-    set_tests_properties(grpc_error_logging_interceptor_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_security_test
-            grpc/tests/grpc_security_test.cpp
-            grpc/src/grpc_security.cpp
-    )
-    target_include_directories(grpc_security_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(grpc_security_test
-            PRIVATE
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_security_test
-            COMMAND grpc_security_test
-    )
-    set_tests_properties(grpc_security_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_command_transaction_test
-            grpc/tests/grpc_command_transaction_test.cpp
-            grpc/src/grpc_command_transaction.cpp
-            grpc/src/grpc_safety_proto.cpp
-            grpc/src/grpc_security.cpp
-    )
-    target_include_directories(grpc_command_transaction_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(grpc_command_transaction_test PRIVATE
-            cmvr_es::safety_coordinator
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_command_transaction_test
-            COMMAND grpc_command_transaction_test
-    )
-    set_tests_properties(grpc_command_transaction_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_arm_service_test
-            grpc/tests/grpc_arm_service_test.cpp
-    )
-    target_include_directories(grpc_arm_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_arm_service_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_arm_service_test
-            COMMAND grpc_arm_service_test
-    )
-    set_tests_properties(grpc_arm_service_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_arm_teleop_service_test
-            grpc/tests/grpc_arm_teleop_service_test.cpp
-    )
-    target_include_directories(grpc_arm_teleop_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(grpc_arm_teleop_service_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_arm_teleop_service_test
-            COMMAND grpc_arm_teleop_service_test
-    )
-    set(_grpc_arm_teleop_test_environment
-            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
-    )
-    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
-        list(APPEND _grpc_arm_teleop_test_environment
-                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
-    endif()
-    set_tests_properties(grpc_arm_teleop_service_test PROPERTIES
-            TIMEOUT 20
-            ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
-    )
-
-    add_executable(grpc_robot_arm_teleop_backend_test
-            grpc/tests/grpc_robot_arm_teleop_backend_test.cpp
-    )
-    target_include_directories(grpc_robot_arm_teleop_backend_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-    )
-    target_link_libraries(grpc_robot_arm_teleop_backend_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_robot_arm_teleop_backend_test
-            COMMAND grpc_robot_arm_teleop_backend_test
-    )
-    set_tests_properties(grpc_robot_arm_teleop_backend_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
-    )
-
-    add_executable(grpc_motor_service_test
-            grpc/tests/grpc_motor_service_test.cpp
-    )
-    target_include_directories(grpc_motor_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_motor_service_test
-            PRIVATE
-            service
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_motor_service_test
-            COMMAND grpc_motor_service_test
-    )
-    set(_grpc_motor_test_environment
-            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
-    )
-    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
-        list(APPEND _grpc_motor_test_environment
-                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
-    endif()
-    set_tests_properties(grpc_motor_service_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_motor_test_environment}"
-    )
-
-    add_executable(grpc_agv_service_test
-            grpc/tests/grpc_agv_service_test.cpp
-    )
-    target_include_directories(grpc_agv_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_agv_service_test
-            PRIVATE
-            service
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_agv_service_test
-            COMMAND grpc_agv_service_test
-    )
-    set(_grpc_agv_test_environment
-            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
-    )
-    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
-        list(APPEND _grpc_agv_test_environment
-                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
-    endif()
-    set_tests_properties(grpc_agv_service_test PROPERTIES
-            TIMEOUT 10
-            ENVIRONMENT "${_grpc_agv_test_environment}"
-    )
-
-    add_executable(grpc_head_service_test
-            grpc/tests/grpc_head_service_test.cpp
-    )
-    target_include_directories(grpc_head_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_head_service_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_head_service_test
-            COMMAND grpc_head_service_test
-    )
-    set_tests_properties(grpc_head_service_test PROPERTIES
-            TIMEOUT 15
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-    add_executable(grpc_dexhand_service_test
-            grpc/tests/grpc_dexhand_service_test.cpp
-    )
-    target_include_directories(grpc_dexhand_service_test
-            PRIVATE
-            ${CMAKE_SOURCE_DIR}/cmvr-es
-            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
-    )
-    target_link_libraries(grpc_dexhand_service_test
-            PRIVATE
-            service
-            cmvr_es::proto
-            gtest
-            gtest_main
-            pthread
-    )
-    add_test(
-            NAME grpc_dexhand_service_test
-            COMMAND grpc_dexhand_service_test
-    )
-    set_tests_properties(grpc_dexhand_service_test PROPERTIES
-            TIMEOUT 15
-            ENVIRONMENT "${_grpc_system_test_environment}"
-    )
-
-endif()
-
-# --------------------------------------------------------
-# Unit test
-# --------------------------------------------------------
-find_package(OpenCV REQUIRED)
-
-include_directories(
-        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
-)
-
-link_directories(
-        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
-)
-
-
-add_executable(grpc_arm_client_test
-        grpc/src/grpc_arm_client_test.cpp
-)
-
-
-target_link_libraries(grpc_arm_client_test
-        PRIVATE
-        cmvr_es::device::canbus
-        cmvr_es::device::ti5_canopen_motor_driver
-        osqp
-        gtest
-        gtest_main
-        pthread
-        glog
-        cmvr_es::proto
-        ccd
-        fcl
-        cmvr_es::device_manager
-        ${OpenCV_LIBS}
-)
-
-
-add_executable(grpc_hlc_client_test
-        grpc/src/grpc_hlc_client_test.cpp
-)
-
-
-target_link_libraries(grpc_hlc_client_test
-        PRIVATE
-        cmvr_es::device::canbus
-        cmvr_es::device::ti5_canopen_motor_driver
-        osqp
-        gtest
-        gtest_main
-        pthread
-        glog
-        cmvr_es::proto
-        ccd
-        fcl
-        cmvr_es::device_manager
-)
+# Service is intentionally split by transport. The QUIC edge target is added
+# from the project root before task targets; the gRPC tree is added here after
+# its manager and task dependencies are available.
+add_subdirectory(grpc)

cmvr-es/service/README.md

@@ -6,14 +6,33 @@
 
 ## 当前结构
 
+`service/` 顶层只按传输协议保留两个子目录：`grpc/` 和 `quic_edge/`。gRPC
+内部再按运行角色分层，避免把队列、停止控制、客户端和服务端实现混在同一层。
+
+```text
+service/
+├── grpc/
+│   ├── action/                    # ActionQueue 校验、账本和 FIFO 执行器
+│   ├── client/                    # 边缘端使用的 gRPC client
+│   ├── server/                    # gRPC service、协调器和安全扩展
+│   │   ├── include/
+│   │   ├── src/
+│   │   └── tests/
+│   └── stop_all/                  # 高优先级 StopAll 通道
+└── quic_edge/                     # QUIC client、控制状态机和媒体 packetizer
+```
+
 | 目录 | 职责 |
 | --- | --- |
-| `action/` | SystemService ActionQueue 的校验、幂等账本和边缘端 FIFO 执行器 |
-| `grpc/` | 入站设备控制、状态查询和兼容流式接口 |
+| `grpc/action/` | SystemService ActionQueue 的校验、幂等账本和边缘端 FIFO 执行器 |
+| `grpc/client/` | 面向边缘端内部调用的 gRPC client |
+| `grpc/server/` | 入站设备控制、状态查询、兼容流式接口和安全控制面 |
+| `grpc/stop_all/` | 不进入普通命令队列的高优先级停止通道 |
 | `quic_edge/` | 边缘端主动连接平台的 QUIC client、控制状态机和媒体 packetizer |
 | `quic_edge/tests/` | 已登记到 CTest 的 QUIC 协议测试 |
 
-两个遗留 gRPC client test 位于 `grpc/src/*_client_test.cpp`，当前没有通过 `add_test()` 登记。
+两个遗留 gRPC client test 位于 `grpc/server/tests/*_client_test.cpp`，当前没有通过
+`add_test()` 登记；它们是历史可执行文件，不代表默认自动覆盖。
 
 gRPC 和 QUIC 的职责边界：
 
@@ -99,10 +118,10 @@ ActionQueue 遵循以下执行语义：
 
 - Proto：[`../../protos/cmvr/api/motor_service.proto`](../../protos/cmvr/api/motor_service.proto)
   和 [`../../protos/cmvr/api/motor_command.proto`](../../protos/cmvr/api/motor_command.proto)
-- 实现：[`grpc/include/grpc_motor_service.h`](grpc/include/grpc_motor_service.h)
-  和 [`grpc/src/grpc_motor_service.cpp`](grpc/src/grpc_motor_service.cpp)
+- 实现：[`grpc/server/include/grpc_motor_service.h`](grpc/server/include/grpc_motor_service.h)
+  和 [`grpc/server/src/grpc_motor_service.cpp`](grpc/server/src/grpc_motor_service.cpp)
 - 注册：[`../task/grpc_server_task/src/grpc_server_task.cpp`](../task/grpc_server_task/src/grpc_server_task.cpp)
-- 单元测试：[`grpc/tests/grpc_motor_service_test.cpp`](grpc/tests/grpc_motor_service_test.cpp)
+- 单元测试：[`grpc/server/tests/grpc_motor_service_test.cpp`](grpc/server/tests/grpc_motor_service_test.cpp)
 
 服务按单电机仲裁。同步 Profile 命令、Cyclic Position/Velocity 双向流、
 `setEnabled`、状态读取和软件 `emergencyStop` 共用同一控制权状态：
@@ -140,6 +159,7 @@ import 路径必须相对于 `protos/`。兼容规则见 [`../../protos/README.m
 
 ```text
 service/grpc/
+└── server/
     ├── include/grpc_example_service.h
     └── src/grpc_example_service.cpp
 ```
@@ -203,7 +223,7 @@ cmvr::api::ExampleService::Service
 
 - 检查 `context->IsCancelled()`；
 - 检查 `Read()` / `Write()` 返回；
-- 使用 RAII 或 MediaSourceHub Subscription 释放 producer lease；
+- 使用 RAII 或 MediaSourceManager Subscription 释放 producer lease；
 - 不持有设备状态锁进行网络写；
 - 为 wait/read 使用有限 timeout；
 - 慢客户端不能阻塞设备生产线程；
@@ -211,7 +231,7 @@ cmvr::api::ExampleService::Service
 - gRPC RGB 流在积压超过 `camera_stream_max_pending_frames` 或帧龄超过
   `camera_stream_max_frame_age_ms` 时主动丢弃旧帧，请求 IDR，并从下一个关键帧恢复。
 
-当前仅 gRPC RGB 和麦克风流使用 MediaSourceHub；Depth/RGBD 仍直接读取设备帧。
+当前仅 gRPC RGB 和麦克风流使用 MediaSourceManager；Depth/RGBD 仍直接读取设备帧。
 
 gRPC 相机实时流默认最多保留 2 帧积压、最大允许 250 ms 帧龄。两个配置项填 0
 时使用上述默认值。该策略以低延迟为目标，不保证每个视频帧都到达客户端；控制命令

cmvr-es/service/grpc/CMakeLists.txt

@@ -0,0 +1,550 @@
+
+add_library(service
+        stop_all/src/stop_operation_dispatcher.cpp
+        action/src/action_queue_executor.cpp
+        server/src/camera_ptz_activity_registry.cpp
+        server/src/media_activity_coordinator.cpp
+        server/src/motor_activity_coordinator.cpp
+        server/src/grpc_camera_service.cpp
+        server/src/grpc_command_transaction.cpp
+        server/src/grpc_error_logging_interceptor.cpp
+        server/src/grpc_recovery_audit.cpp
+        server/src/grpc_safety_proto.cpp
+        server/src/grpc_safety_participants.cpp
+        server/src/grpc_security.cpp
+        server/src/grpc_system_service.cpp
+        server/src/grpc_speaker_service.cpp
+        server/src/grpc_microphone_service.cpp
+        server/src/grpc_head_service.cpp
+        server/src/grpc_dexhand_service.cpp
+        server/src/grpc_arm_service.cpp
+        server/src/grpc_arm_teleop_service.cpp
+        server/src/grpc_robot_arm_teleop_backend.cpp
+        server/src/grpc_motor_service.cpp
+        server/src/grpc_agv_service.cpp
+        server/src/grpc_hlc_service.cpp
+        ../../task/grpc_server_task/src/grpc_server_task.cpp
+)
+
+target_include_directories(service PUBLIC
+        ${CMAKE_SOURCE_DIR}/cmvr-es
+)
+
+target_link_libraries(service PRIVATE
+        cmvr_es::proto
+        cmvr_es::stop_all_admission_gate
+        cmvr_es::camera_operational_activity_registry
+        osqp
+        cmvr_es::control_authority_manager
+        cmvr_es::device_manager
+        cmvr_es::task_manager
+        cmvr_es::algorithms::controller
+        cmvr_es::task
+        cmvr_es::media_source_manager
+        cmvr_es::device_media_source_adapter
+        protobuf::libprotobuf
+)
+
+add_library(cmvr_es::service ALIAS service)
+install(TARGETS service LIBRARY DESTINATION lib)
+
+if(BUILD_TESTING)
+    add_executable(stop_all_admission_gate_test
+            stop_all/tests/stop_all_admission_gate_test.cpp
+            stop_all/src/stop_all_admission_gate.cpp
+    )
+    target_include_directories(stop_all_admission_gate_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(stop_all_admission_gate_test PRIVATE
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME stop_all_admission_gate_test
+            COMMAND stop_all_admission_gate_test
+    )
+    set_tests_properties(stop_all_admission_gate_test PROPERTIES TIMEOUT 10)
+
+    add_executable(stop_operation_dispatcher_test
+            stop_all/tests/stop_operation_dispatcher_test.cpp
+            stop_all/src/stop_operation_dispatcher.cpp
+    )
+    target_include_directories(stop_operation_dispatcher_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(stop_operation_dispatcher_test PRIVATE
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME stop_operation_dispatcher_test
+            COMMAND stop_operation_dispatcher_test
+    )
+    set_tests_properties(stop_operation_dispatcher_test PROPERTIES TIMEOUT 10)
+
+    add_executable(camera_operational_activity_registry_test
+            server/tests/camera_operational_activity_registry_test.cpp
+    )
+    target_include_directories(camera_operational_activity_registry_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(camera_operational_activity_registry_test PRIVATE
+            cmvr_es::proto
+            cmvr_es::camera_operational_activity_registry
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME camera_operational_activity_registry_test
+            COMMAND camera_operational_activity_registry_test
+    )
+    set_tests_properties(camera_operational_activity_registry_test PROPERTIES
+            TIMEOUT 10)
+
+    add_executable(camera_ptz_activity_registry_test
+            server/tests/camera_ptz_activity_registry_test.cpp
+            server/src/camera_ptz_activity_registry.cpp
+            stop_all/src/stop_all_admission_gate.cpp
+    )
+    target_include_directories(camera_ptz_activity_registry_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(camera_ptz_activity_registry_test PRIVATE
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME camera_ptz_activity_registry_test
+            COMMAND camera_ptz_activity_registry_test
+    )
+    set_tests_properties(camera_ptz_activity_registry_test PROPERTIES TIMEOUT 10)
+
+    add_executable(media_activity_coordinator_test
+            server/tests/media_activity_coordinator_test.cpp
+            server/src/media_activity_coordinator.cpp
+            stop_all/src/stop_all_admission_gate.cpp
+    )
+    target_include_directories(media_activity_coordinator_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(media_activity_coordinator_test PRIVATE
+            cmvr_es::logging
+            pthread
+    )
+    add_test(
+            NAME media_activity_coordinator_test
+            COMMAND media_activity_coordinator_test
+    )
+    set(_grpc_media_test_environment
+            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
+    )
+    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+        list(APPEND _grpc_media_test_environment
+                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+    endif()
+    set_tests_properties(media_activity_coordinator_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_media_test_environment}"
+    )
+
+    add_executable(motor_activity_coordinator_test
+            server/tests/motor_activity_coordinator_test.cpp
+            server/src/motor_activity_coordinator.cpp
+    )
+    target_include_directories(motor_activity_coordinator_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(motor_activity_coordinator_test PRIVATE
+            cmvr_es::logging
+            pthread
+    )
+    add_test(
+            NAME motor_activity_coordinator_test
+            COMMAND motor_activity_coordinator_test
+    )
+    set_tests_properties(motor_activity_coordinator_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_media_test_environment}"
+    )
+
+    add_executable(grpc_camera_stream_policy_test
+            server/tests/grpc_camera_stream_policy_test.cpp
+    )
+    target_include_directories(grpc_camera_stream_policy_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    add_test(
+            NAME grpc_camera_stream_policy_test
+            COMMAND grpc_camera_stream_policy_test
+    )
+    set_tests_properties(grpc_camera_stream_policy_test PROPERTIES TIMEOUT 10)
+
+    add_executable(grpc_system_service_test
+            server/tests/grpc_system_service_test.cpp
+    )
+    target_include_directories(grpc_system_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_system_service_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_system_service_test
+            COMMAND grpc_system_service_test
+    )
+    set(_grpc_system_test_environment
+            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
+    )
+    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+        list(APPEND _grpc_system_test_environment
+                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+    endif()
+    set_tests_properties(grpc_system_service_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_error_logging_interceptor_test
+            server/tests/grpc_error_logging_interceptor_test.cpp
+            server/src/grpc_error_logging_interceptor.cpp
+    )
+    target_include_directories(grpc_error_logging_interceptor_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(grpc_error_logging_interceptor_test
+            PRIVATE
+            cmvr_es::logging
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_error_logging_interceptor_test
+            COMMAND grpc_error_logging_interceptor_test
+    )
+    set_tests_properties(grpc_error_logging_interceptor_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_security_test
+            server/tests/grpc_security_test.cpp
+            server/src/grpc_security.cpp
+    )
+    target_include_directories(grpc_security_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(grpc_security_test
+            PRIVATE
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_security_test
+            COMMAND grpc_security_test
+    )
+    set_tests_properties(grpc_security_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_command_transaction_test
+            server/tests/grpc_command_transaction_test.cpp
+            server/src/grpc_command_transaction.cpp
+            server/src/grpc_safety_proto.cpp
+            server/src/grpc_security.cpp
+    )
+    target_include_directories(grpc_command_transaction_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(grpc_command_transaction_test PRIVATE
+            cmvr_es::safety_manager
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_command_transaction_test
+            COMMAND grpc_command_transaction_test
+    )
+    set_tests_properties(grpc_command_transaction_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_arm_service_test
+            server/tests/grpc_arm_service_test.cpp
+    )
+    target_include_directories(grpc_arm_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_arm_service_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_arm_service_test
+            COMMAND grpc_arm_service_test
+    )
+    set_tests_properties(grpc_arm_service_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_arm_teleop_service_test
+            server/tests/grpc_arm_teleop_service_test.cpp
+    )
+    target_include_directories(grpc_arm_teleop_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(grpc_arm_teleop_service_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_arm_teleop_service_test
+            COMMAND grpc_arm_teleop_service_test
+    )
+    set(_grpc_arm_teleop_test_environment
+            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
+    )
+    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+        list(APPEND _grpc_arm_teleop_test_environment
+                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+    endif()
+    set_tests_properties(grpc_arm_teleop_service_test PROPERTIES
+            TIMEOUT 20
+            ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
+    )
+
+    add_executable(grpc_robot_arm_teleop_backend_test
+            server/tests/grpc_robot_arm_teleop_backend_test.cpp
+    )
+    target_include_directories(grpc_robot_arm_teleop_backend_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+    )
+    target_link_libraries(grpc_robot_arm_teleop_backend_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_robot_arm_teleop_backend_test
+            COMMAND grpc_robot_arm_teleop_backend_test
+    )
+    set_tests_properties(grpc_robot_arm_teleop_backend_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_arm_teleop_test_environment}"
+    )
+
+    add_executable(grpc_motor_service_test
+            server/tests/grpc_motor_service_test.cpp
+    )
+    target_include_directories(grpc_motor_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_motor_service_test
+            PRIVATE
+            service
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_motor_service_test
+            COMMAND grpc_motor_service_test
+    )
+    set(_grpc_motor_test_environment
+            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
+    )
+    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+        list(APPEND _grpc_motor_test_environment
+                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+    endif()
+    set_tests_properties(grpc_motor_service_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_motor_test_environment}"
+    )
+
+    add_executable(grpc_agv_service_test
+            server/tests/grpc_agv_service_test.cpp
+    )
+    target_include_directories(grpc_agv_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_agv_service_test
+            PRIVATE
+            service
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_agv_service_test
+            COMMAND grpc_agv_service_test
+    )
+    set(_grpc_agv_test_environment
+            "LD_LIBRARY_PATH=${CMVR_TEST_EXTERNAL_LIBRARY_PATH}"
+    )
+    if(CMVR_TEST_SYSTEM_LIBSTDCXX)
+        list(APPEND _grpc_agv_test_environment
+                "LD_PRELOAD=${CMVR_TEST_SYSTEM_LIBSTDCXX}")
+    endif()
+    set_tests_properties(grpc_agv_service_test PROPERTIES
+            TIMEOUT 10
+            ENVIRONMENT "${_grpc_agv_test_environment}"
+    )
+
+    add_executable(grpc_head_service_test
+            server/tests/grpc_head_service_test.cpp
+    )
+    target_include_directories(grpc_head_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_head_service_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_head_service_test
+            COMMAND grpc_head_service_test
+    )
+    set_tests_properties(grpc_head_service_test PROPERTIES
+            TIMEOUT 15
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+    add_executable(grpc_dexhand_service_test
+            server/tests/grpc_dexhand_service_test.cpp
+    )
+    target_include_directories(grpc_dexhand_service_test
+            PRIVATE
+            ${CMAKE_SOURCE_DIR}/cmvr-es
+            ${CMAKE_SOURCE_DIR}/cmvr-es/manager/device_manager
+    )
+    target_link_libraries(grpc_dexhand_service_test
+            PRIVATE
+            service
+            cmvr_es::proto
+            gtest
+            gtest_main
+            pthread
+    )
+    add_test(
+            NAME grpc_dexhand_service_test
+            COMMAND grpc_dexhand_service_test
+    )
+    set_tests_properties(grpc_dexhand_service_test PROPERTIES
+            TIMEOUT 15
+            ENVIRONMENT "${_grpc_system_test_environment}"
+    )
+
+endif()
+
+# --------------------------------------------------------
+# Unit test
+# --------------------------------------------------------
+find_package(OpenCV REQUIRED)
+
+include_directories(
+        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
+)
+
+link_directories(
+        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
+)
+
+
+add_executable(grpc_arm_client_test
+        server/tests/grpc_arm_client_test.cpp
+)
+
+
+target_link_libraries(grpc_arm_client_test
+        PRIVATE
+        cmvr_es::device::canbus
+        cmvr_es::device::ti5_canopen_motor_driver
+        osqp
+        gtest
+        gtest_main
+        pthread
+        glog
+        cmvr_es::proto
+        ccd
+        fcl
+        cmvr_es::device_manager
+        ${OpenCV_LIBS}
+)
+
+
+add_executable(grpc_hlc_client_test
+        server/tests/grpc_hlc_client_test.cpp
+)
+
+
+target_link_libraries(grpc_hlc_client_test
+        PRIVATE
+        cmvr_es::device::canbus
+        cmvr_es::device::ti5_canopen_motor_driver
+        osqp
+        gtest
+        gtest_main
+        pthread
+        glog
+        cmvr_es::proto
+        ccd
+        fcl
+        cmvr_es::device_manager
+)

cmvr-es/service/grpc/action/include/action_queue_executor.h

@@ -9,7 +9,7 @@
 #include <string>
 
 #include "cmvr/api/system_command.pb.h"
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::device {
 class DeviceManager;

cmvr-es/service/grpc/action/src/action_queue_executor.cpp

@@ -1,4 +1,4 @@
-#include "service/action/include/action_queue_executor.h"
+#include "service/grpc/action/include/action_queue_executor.h"
 
 #include <algorithm>
 #include <array>
@@ -36,10 +36,10 @@
 #include "common/base/logging/logger.h"
 #include "devices/agv/abstract_agv.h"
 #include "devices/arm/robot_arm.h"
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 #include "manager/device_manager/include/device_manager.h"
-#include "manager/safety/include/safety_coordinator.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/safety_manager/include/safety_manager.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {
@@ -1965,7 +1965,7 @@ struct ActionQueueExecutor::Impl {
         }
         request.authority_generation = token.generation;
         request.deadline = deadline;
-        return device_manager.safetyCoordinator().admit(request);
+        return device_manager.safetyManager().admit(request);
     }
 
     static std::string admissionFailure(
@@ -2010,7 +2010,7 @@ struct ActionQueueExecutor::Impl {
                 StepOutcome::Canceled,
                 "RobotArm ActionQueue control was preempted before dispatch"};
         }
-        auto safety_dispatch = device_manager.safetyCoordinator()
+        auto safety_dispatch = device_manager.safetyManager()
             .beginDispatch(*safety_admission.permit);
         if (!safety_dispatch.acquired()) {
             return {
@@ -2171,7 +2171,7 @@ struct ActionQueueExecutor::Impl {
                 StepOutcome::Canceled,
                 "AGV ActionQueue control was preempted before dispatch"};
         }
-        auto safety_dispatch = device_manager.safetyCoordinator()
+        auto safety_dispatch = device_manager.safetyManager()
             .beginDispatch(*safety_admission.permit);
         if (!safety_dispatch.acquired()) {
             return {

cmvr-es/service/grpc/client/src/grpc_arm_teleop_client.cpp

@@ -1,4 +1,4 @@
-#include "service/arm_teleop_client/include/grpc_arm_teleop_client.h"
+#include "service/grpc/client/include/grpc_arm_teleop_client.h"
 
 #include <exception>
 #include <string>

cmvr-es/service/grpc/client/tests/grpc_arm_teleop_client_test.cpp

@@ -12,7 +12,7 @@
 #include <unistd.h>
 
 #include "cmvr/api/arm_teleop_v1.grpc.pb.h"
-#include "service/arm_teleop_client/include/grpc_arm_teleop_client.h"
+#include "service/grpc/client/include/grpc_arm_teleop_client.h"
 
 namespace {
 

cmvr-es/service/grpc/server/include/grpc_arm_teleop_service.h

@@ -9,7 +9,7 @@
 #include <grpcpp/grpcpp.h>
 
 #include "cmvr/api/arm_teleop_v1.grpc.pb.h"
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 
 namespace cmvr::service {
 
@@ -18,7 +18,7 @@ class GrpcSecurityGateway;
 } // namespace cmvr::service
 
 namespace cmvr::safety {
-class SafetyCoordinator;
+class SafetyManager;
 }
 
 namespace cmvr::service {
@@ -87,7 +87,7 @@ public:
             makeDisabledArmTeleopBackend(),
         control::ControlAuthorityManager* authority = nullptr,
         std::shared_ptr<GrpcSecurityGateway> security_gateway = nullptr,
-        safety::SafetyCoordinator* safety_coordinator = nullptr);
+        safety::SafetyManager* safety_manager = nullptr);
     ~ArmTeleopServiceImpl() override = default;
 
     grpc::Status Teleoperate(
@@ -99,7 +99,7 @@ private:
     std::shared_ptr<ArmTeleopBackend> backend_;
     control::ControlAuthorityManager* authority_{nullptr};
     std::shared_ptr<GrpcSecurityGateway> security_gateway_;
-    safety::SafetyCoordinator* safety_coordinator_{nullptr};
+    safety::SafetyManager* safety_manager_{nullptr};
 };
 
 } // namespace cmvr::service

cmvr-es/service/grpc/server/include/grpc_camera_service.h

@@ -11,7 +11,7 @@
 #include "common/base/grpc_utils.h"
 #include "manager/device_manager/include/device_manager.h"
 #include "devices/camera/abstract_camera.h"
-#include "service/grpc/include/grpc_camera_stream_policy.h"
+#include "service/grpc/server/include/grpc_camera_stream_policy.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/include/grpc_command_transaction.h

@@ -11,8 +11,8 @@
 #include <google/protobuf/message.h>
 
 #include "cmvr/api/common.pb.h"
-#include "manager/safety/include/safety_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
+#include "manager/safety_manager/include/safety_manager.h"
+#include "service/grpc/server/include/grpc_security.h"
 
 namespace cmvr::service {
 
@@ -38,7 +38,7 @@ struct GrpcStreamingSafetyOpen {
 class GrpcStreamingSafetySession final {
 public:
     GrpcStreamingSafetySession(
-        safety::SafetyCoordinator& coordinator,
+        safety::SafetyManager& coordinator,
         const GrpcRequestContext& request_context,
         GrpcStreamingSafetyOpen open);
 
@@ -67,7 +67,7 @@ public:
 private:
     void reject_(safety::SafetyReason reason, std::string detail);
 
-    safety::SafetyCoordinator* coordinator_{nullptr};
+    safety::SafetyManager* coordinator_{nullptr};
     std::optional<safety::AdmissionPermit> permit_;
     safety::AdmissionDecision admission_decision_;
     grpc::Status status_;
@@ -79,7 +79,7 @@ private:
 class GrpcCommandTransaction final {
 public:
     GrpcCommandTransaction(
-        safety::SafetyCoordinator& coordinator,
+        safety::SafetyManager& coordinator,
         GrpcRequestContext request_context,
         GrpcMethodPolicy method_policy,
         const google::protobuf::Message& request,
@@ -153,7 +153,7 @@ private:
         const std::string& detail);
     void abandon_() noexcept;
 
-    safety::SafetyCoordinator* coordinator_{nullptr};
+    safety::SafetyManager* coordinator_{nullptr};
     GrpcRequestContext request_context_;
     GrpcMethodPolicy method_policy_;
     google::protobuf::Message* response_{nullptr};
@@ -181,7 +181,7 @@ using GrpcUnaryCommandOperation =
 grpc::Status executeRegisteredGrpcCommand(
     const std::shared_ptr<GrpcSecurityGateway>& gateway,
     grpc::ServerContext* server_context,
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& full_method_name,
     const google::protobuf::Message* request,
     google::protobuf::Message* response,
@@ -194,7 +194,7 @@ grpc::Status executeRegisteredGrpcCommand(
 grpc::Status executeServerDerivedGrpcCommand(
     const std::shared_ptr<GrpcSecurityGateway>& gateway,
     grpc::ServerContext* server_context,
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& full_method_name,
     GrpcMethodPolicy effective_policy,
     const google::protobuf::Message* request,

cmvr-es/service/grpc/server/include/grpc_motor_service.h

@@ -10,7 +10,7 @@
 
 #include "cmvr/api/motor_service.grpc.pb.h"
 #include "devices/motor/abstract_motor.h"
-#include "service/grpc/include/motor_activity_coordinator.h"
+#include "service/grpc/server/include/motor_activity_coordinator.h"
 
 namespace cmvr::device {
 class DeviceManager;

cmvr-es/service/grpc/server/include/grpc_robot_arm_teleop_backend.h

@@ -4,7 +4,7 @@
 
 #include "cmvr/config/grpc_server_config/grpc_server_config.pb.h"
 #include "devices/arm/robot_arm.h"
-#include "service/grpc/include/grpc_arm_teleop_service.h"
+#include "service/grpc/server/include/grpc_arm_teleop_service.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/include/grpc_safety_participants.h

@@ -3,7 +3,7 @@
 #include <memory>
 
 namespace cmvr::safety {
-class SafetyCoordinator;
+class SafetyManager;
 }
 
 namespace cmvr::service {
@@ -26,7 +26,7 @@ public:
 private:
     friend std::unique_ptr<GrpcSafetyParticipantRegistration>
     registerGrpcSafetyParticipants(
-        safety::SafetyCoordinator&,
+        safety::SafetyManager&,
         std::shared_ptr<ActionQueueExecutor>,
         std::shared_ptr<StopOperationDispatcher>);
     struct Impl;
@@ -36,7 +36,7 @@ private:
 
 std::unique_ptr<GrpcSafetyParticipantRegistration>
 registerGrpcSafetyParticipants(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     std::shared_ptr<ActionQueueExecutor> action_queue,
     std::shared_ptr<StopOperationDispatcher> stop_dispatcher);
 

cmvr-es/service/grpc/server/include/grpc_safety_proto.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "cmvr/api/safety_command.pb.h"
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/safety_manager/include/safety_manager.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/include/grpc_security.h

@@ -13,7 +13,7 @@
 #include <grpcpp/support/status.h>
 
 #include "cmvr/config/grpc_server_config/grpc_server_config.pb.h"
-#include "manager/safety/include/safety_types.h"
+#include "manager/safety_manager/include/safety_types.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/include/media_activity_coordinator.h

@@ -8,7 +8,7 @@
 #include <string>
 #include <vector>
 
-#include "service/stop_all/include/deferred_stop_operation.h"
+#include "service/grpc/stop_all/include/deferred_stop_operation.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/include/motor_activity_coordinator.h

@@ -9,7 +9,7 @@
 #include <string>
 #include <vector>
 
-#include "service/stop_all/include/deferred_stop_operation.h"
+#include "service/grpc/stop_all/include/deferred_stop_operation.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/src/camera_operational_activity_registry.cpp

@@ -1,9 +1,9 @@
-#include "service/grpc/include/camera_operational_activity_registry.h"
+#include "service/grpc/server/include/camera_operational_activity_registry.h"
 
 #include <algorithm>
 #include <exception>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {

cmvr-es/service/grpc/server/src/camera_ptz_activity_registry.cpp

@@ -1,10 +1,10 @@
-#include "service/grpc/include/camera_ptz_activity_registry.h"
+#include "service/grpc/server/include/camera_ptz_activity_registry.h"
 
 #include <algorithm>
 #include <exception>
 #include <utility>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 

cmvr-es/service/grpc/server/src/grpc_agv_service.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_agv_service.h"
+#include "service/grpc/server/include/grpc_agv_service.h"
 
 #include <atomic>
 #include <chrono>
@@ -11,10 +11,10 @@
 #include <google/protobuf/util/time_util.h>
 
 #include "common/base/logging/logger.h"
-#include "manager/control_authority/include/control_authority_manager.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 using google::protobuf::util::TimeUtil;
 
@@ -668,7 +668,7 @@ grpc::Status gRPCAgvServiceImpl::emergencyStop(grpc::ServerContext* context,
                                                api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/emergencyStop", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -696,7 +696,7 @@ grpc::Status gRPCAgvServiceImpl::clearFault(grpc::ServerContext* context,
                                             api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/clearFault", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -727,7 +727,7 @@ grpc::Status gRPCAgvServiceImpl::navigateToPose(grpc::ServerContext* context,
                                                 api::AgvNavigateToPoseCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/navigateToPose", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         if (context && context->IsCancelled()) {
@@ -766,7 +766,7 @@ grpc::Status gRPCAgvServiceImpl::navigateToStation(grpc::ServerContext* context,
                                                    api::AgvNavigateToStationCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/navigateToStation", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         if (context && context->IsCancelled()) {
@@ -806,7 +806,7 @@ grpc::Status gRPCAgvServiceImpl::followPath(grpc::ServerContext* context,
                                             api::AgvFollowPathCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/followPath", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         if (context && context->IsCancelled()) {
@@ -854,7 +854,7 @@ grpc::Status gRPCAgvServiceImpl::translate(
         api::AgvTranslateCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/translate", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         if (context && context->IsCancelled()) {
@@ -892,7 +892,7 @@ grpc::Status gRPCAgvServiceImpl::pauseNavigation(grpc::ServerContext* context,
                                                  api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/pauseNavigation", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -924,7 +924,7 @@ grpc::Status gRPCAgvServiceImpl::resumeNavigation(grpc::ServerContext* context,
                                                   api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/resumeNavigation", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -956,7 +956,7 @@ grpc::Status gRPCAgvServiceImpl::cancelNavigation(grpc::ServerContext* context,
                                                   api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/cancelNavigation", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -984,7 +984,7 @@ grpc::Status gRPCAgvServiceImpl::setVelocity(grpc::ServerContext* context,
                                              api::AgvSetVelocityCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/setVelocity", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -1015,7 +1015,7 @@ grpc::Status gRPCAgvServiceImpl::stopVelocityControl(grpc::ServerContext* contex
                                                      api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/stopVelocityControl", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -1095,7 +1095,7 @@ grpc::Status gRPCAgvServiceImpl::switchMap(grpc::ServerContext* context,
                                            api::AgvMapCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/switchMap", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -1126,7 +1126,7 @@ grpc::Status gRPCAgvServiceImpl::uploadMap(grpc::ServerContext* context,
                                            api::AgvMapCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/uploadMap", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -1181,7 +1181,7 @@ grpc::Status gRPCAgvServiceImpl::startMapping(grpc::ServerContext* context,
                                               api::AgvStartMappingCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/startMapping", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -1292,7 +1292,7 @@ grpc::Status gRPCAgvServiceImpl::stopMapping(grpc::ServerContext* context,
                                              api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.AgvService/stopMapping", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();

cmvr-es/service/grpc/server/src/grpc_arm_service.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_arm_service.h"
+#include "service/grpc/server/include/grpc_arm_service.h"
 
 #include <atomic>
 #include <chrono>
@@ -7,10 +7,10 @@
 #include <google/protobuf/util/time_util.h>
 
 #include "common/base/logging/logger.h"
-#include "manager/control_authority/include/control_authority_manager.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 using google::protobuf::util::TimeUtil;
 
@@ -381,7 +381,7 @@ grpc::Status gRPCArmServiceImpl::torqueOff(grpc::ServerContext* context,
                                            api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/torqueOff", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -415,7 +415,7 @@ grpc::Status gRPCArmServiceImpl::torqueOn(grpc::ServerContext* context,
                                           api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/torqueOn", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -471,7 +471,7 @@ grpc::Status gRPCArmServiceImpl::moveJ(grpc::ServerContext* context,
                                        api::MoveJ_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/moveJ", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -511,7 +511,7 @@ grpc::Status gRPCArmServiceImpl::moveL(grpc::ServerContext* context,
                                        api::MoveL_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/moveL", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -553,7 +553,7 @@ grpc::Status gRPCArmServiceImpl::speedJ(grpc::ServerContext* context,
                                         api::SpeedJ_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/speedJ", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -593,7 +593,7 @@ grpc::Status gRPCArmServiceImpl::speedL(grpc::ServerContext* context,
                                         api::SpeedL_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/speedL", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -634,7 +634,7 @@ grpc::Status gRPCArmServiceImpl::servoJ(grpc::ServerContext* context,
                                         api::ServoJ_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/servoJ", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -670,7 +670,7 @@ grpc::Status gRPCArmServiceImpl::stopMotion(grpc::ServerContext* context,
                                             api::CommandHeader_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/stopMotion", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();
@@ -763,7 +763,7 @@ grpc::Status gRPCArmServiceImpl::calibrateZeroQ(grpc::ServerContext* context,
                                                 api::CalibrateZeroQ_Response* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/calibrateZeroQ", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -821,7 +821,7 @@ grpc::Status gRPCArmServiceImpl::ExecuteJsonCommand(
     api::JsonDeviceCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/ExecuteJsonCommand", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->header().device_id();
@@ -870,7 +870,7 @@ grpc::Status gRPCArmServiceImpl::clearFault(grpc::ServerContext *context,
                                             cmvr::api::CommandHeader_Feedback *response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.ArmService/clearFault", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         const std::string device_id = request->device_id();

cmvr-es/service/grpc/server/src/grpc_arm_teleop_service.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_arm_teleop_service.h"
+#include "service/grpc/server/include/grpc_arm_teleop_service.h"
 
 #include <algorithm>
 #include <atomic>
@@ -14,9 +14,9 @@
 #include <unordered_set>
 #include <utility>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
 
 namespace cmvr::service {
 
@@ -440,7 +440,7 @@ ArmTeleopServiceImpl::ArmTeleopServiceImpl(
     std::shared_ptr<ArmTeleopBackend> backend,
     control::ControlAuthorityManager* authority,
     std::shared_ptr<GrpcSecurityGateway> security_gateway,
-    safety::SafetyCoordinator* safety_coordinator)
+    safety::SafetyManager* safety_manager)
     : backend_(std::move(backend)),
       authority_(
           authority ? authority
@@ -448,7 +448,7 @@ ArmTeleopServiceImpl::ArmTeleopServiceImpl(
       security_gateway_(security_gateway
                             ? std::move(security_gateway)
                             : makeDefaultGrpcSecurityGateway()),
-      safety_coordinator_(safety_coordinator)
+      safety_manager_(safety_manager)
 {
     if (!backend_) {
         backend_ = makeDisabledArmTeleopBackend();
@@ -541,7 +541,7 @@ grpc::Status ArmTeleopServiceImpl::Teleoperate(
         });
 
         std::optional<GrpcStreamingSafetySession> safety_session;
-        if (safety_coordinator_) {
+        if (safety_manager_) {
             GrpcStreamingSafetyOpen safety_open;
             safety_open.full_method_name =
                 "/cmvr.api.armteleop.v1.ArmTeleopService/Teleoperate";
@@ -550,7 +550,7 @@ grpc::Status ArmTeleopServiceImpl::Teleoperate(
             safety_open.authority_generation = control_lease.generation;
             safety_open.deadline = cmvr_grpc_call_guard.context().deadline;
             safety_session.emplace(
-                *safety_coordinator_,
+                *safety_manager_,
                 cmvr_grpc_call_guard.context(),
                 std::move(safety_open));
             if (!safety_session->admitted()) {

cmvr-es/service/grpc/server/src/grpc_camera_service.cpp

@@ -1,10 +1,10 @@
 #include "common/base/logging/logger.h"
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
-#include "service/grpc/include/camera_operational_activity_registry.h"
-#include "service/grpc/include/camera_ptz_activity_registry.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
+#include "service/grpc/server/include/camera_operational_activity_registry.h"
+#include "service/grpc/server/include/camera_ptz_activity_registry.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/grpc_security.h"
 //
 // Created by xtkuang on 2025/6/1.
 //
@@ -72,7 +72,7 @@ bool toPtzCommand(cmvr::api::ControlPtzCommand_Command command, PtzCommand& out)
 }
 
 // The legacy depth/RGBD RPCs acquire the camera's shared producer directly
-// instead of going through MediaSourceHub.  Keep that lease exception-safe:
+// instead of going through MediaSourceManager.  Keep that lease exception-safe:
 // cancellation, a failed Write(), or any conversion error must release exactly
 // the one startStreaming() reference acquired by this call.
 class CameraStreamingLease final {
@@ -80,7 +80,7 @@ public:
     CameraStreamingLease(
         std::shared_ptr<AbstractCamera> camera,
         const MediaActivityCoordinator::Session& session,
-        cmvr::safety::SafetyCoordinator& coordinator)
+        cmvr::safety::SafetyManager& coordinator)
         : camera_(std::move(camera)) {
         (void)session.runIfCurrent([this, &coordinator] {
             auto dispatch = cmvr::media::beginMediaSourceStartDispatch(
@@ -184,7 +184,7 @@ grpc::Status gRPCCameraServiceImpl::StartCamera(grpc::ServerContext* context,
     const api::StartCameraCommand_Request* request, api::StartCameraCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.CameraService/StartCamera", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -234,7 +234,7 @@ grpc::Status gRPCCameraServiceImpl::StopCamera(grpc::ServerContext* context,
     const api::StopCameraCommand_Request* request, api::StopCameraCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.CameraService/StopCamera", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -502,7 +502,7 @@ grpc::Status gRPCCameraServiceImpl::StartRecording(grpc::ServerContext* context,
     const api::StartCameraRecordingCommand_Request* request, api::StartCameraRecordingCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.CameraService/StartRecording", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -540,7 +540,7 @@ grpc::Status gRPCCameraServiceImpl::StopRecording(grpc::ServerContext* context,
     const api::StopCameraRecordingCommand_Request* request, api::StopCameraRecordingCommand_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.CameraService/StopRecording", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -581,7 +581,7 @@ grpc::Status gRPCCameraServiceImpl::ControlPtz(grpc::ServerContext* context,
     }
 
     return executeServerDerivedGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.CameraService/ControlPtz", std::move(effective_policy),
         request, response,
         [this, request, response](GrpcCommandTransaction& command_tx) {
@@ -666,7 +666,7 @@ grpc::Status gRPCCameraServiceImpl::GetDepthImageStream(grpc::ServerContext* con
             return grpc::Status::OK;
         }
         CameraStreamingLease stream_lease(
-            dev, media_session, dmgr_.safetyCoordinator());
+            dev, media_session, dmgr_.safetyManager());
         if (!stream_lease) {
             api::GetDepthImageStreamCommand_Feedback response;
             response.mutable_header()->set_success(false);
@@ -763,7 +763,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBDImagesStream(grpc::ServerContext* con
             return grpc::Status::OK;
         }
         CameraStreamingLease stream_lease(
-            dev, media_session, dmgr_.safetyCoordinator());
+            dev, media_session, dmgr_.safetyManager());
         if (!stream_lease) {
             api::GetRGBDImagesStreamCommand_Feedback response;
             response.mutable_header()->set_success(false);
@@ -867,7 +867,7 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
             stream->Write(response);
             return grpc::Status::OK;
         }
-        auto& media_hub = cmvr::media::globalMediaSourceHub();
+        auto& media_hub = cmvr::media::globalMediaSourceManager();
         const std::string track_id = cmvr::media::cameraColorTrackId(dev_id);
         bool source_ready = false;
         const bool source_setup_allowed = media_session.runIfCurrent([&] {
@@ -885,15 +885,15 @@ grpc::Status gRPCCameraServiceImpl::GetRGBImageStream(grpc::ServerContext* conte
             return grpc::Status::OK;
         }
         auto source_dispatch = cmvr::media::beginMediaSourceStartDispatch(
-            dmgr_.safetyCoordinator(), dev_id);
+            dmgr_.safetyManager(), dev_id);
         auto subscription = source_dispatch.acquired()
             ? media_hub.subscribe(
             track_id,
-            cmvr::media::MediaSourceHub::StartPosition::NEXT_PUBLISHED,
+            cmvr::media::MediaSourceManager::StartPosition::NEXT_PUBLISHED,
             [context, &media_session] {
                 return context->IsCancelled() || media_session.cancelled();
             })
-            : cmvr::media::MediaSourceHub::Subscription{};
+            : cmvr::media::MediaSourceManager::Subscription{};
         if (!subscription) {
             api::GetRGBImageStreamCommand_Feedback response;
             response.mutable_header()->set_success(false);

cmvr-es/service/grpc/server/src/grpc_command_transaction.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
 
 #include <algorithm>
 #include <array>
@@ -15,7 +15,7 @@
 #include <google/protobuf/io/zero_copy_stream_impl_lite.h>
 #include <google/protobuf/util/time_util.h>
 
-#include "service/grpc/include/grpc_safety_proto.h"
+#include "service/grpc/server/include/grpc_safety_proto.h"
 
 namespace cmvr::service {
 
@@ -145,7 +145,7 @@ std::uint64_t stableHash(
 }
 
 bool isEnforced(
-    const safety::SafetyCoordinatorConfig& config,
+    const safety::SafetyManagerConfig& config,
     const std::string& device_id)
 {
     switch (config.enforcement_mode) {
@@ -316,7 +316,7 @@ grpc::Status grpcStatusForSafetyReason(
 }
 
 GrpcStreamingSafetySession::GrpcStreamingSafetySession(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const GrpcRequestContext& request_context,
     GrpcStreamingSafetyOpen open)
     : coordinator_(&coordinator),
@@ -469,7 +469,7 @@ std::string deterministicGrpcPayloadHash(
 }
 
 GrpcCommandTransaction::GrpcCommandTransaction(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     GrpcRequestContext request_context,
     GrpcMethodPolicy method_policy,
     const google::protobuf::Message& request,
@@ -1166,7 +1166,7 @@ void GrpcCommandTransaction::abandon_() noexcept
 grpc::Status executeRegisteredGrpcCommand(
     const std::shared_ptr<GrpcSecurityGateway>& gateway,
     grpc::ServerContext* server_context,
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& full_method_name,
     const google::protobuf::Message* request,
     google::protobuf::Message* response,
@@ -1208,7 +1208,7 @@ grpc::Status executeRegisteredGrpcCommand(
 grpc::Status executeServerDerivedGrpcCommand(
     const std::shared_ptr<GrpcSecurityGateway>& gateway,
     grpc::ServerContext* server_context,
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::string& full_method_name,
     GrpcMethodPolicy effective_policy,
     const google::protobuf::Message* request,

cmvr-es/service/grpc/server/src/grpc_dexhand_service.cpp

@@ -15,11 +15,11 @@
 #include <vector>
 
 #include "devices/dexhand/rh56dftp_dexhand/include/rh56dftp_dexhand.h"
-#include "manager/control_authority/include/control_authority_manager.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 using namespace std;
 using namespace cmvr::service;
@@ -367,7 +367,7 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandPos(grpc::ServerContext* context
     , const cmvr::api::SetDexHandPositionsCommand_Request* request
     , cmvr::api::SetDexHandPositionsCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.DexHandService/SetDexHandPos", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -415,7 +415,7 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandAngle(grpc::ServerContext* contex
     , const cmvr::api::SetDexHandAnglesCommand_Request* request
     , cmvr::api::SetDexHandAnglesCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.DexHandService/SetDexHandAngle", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -477,7 +477,7 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandForce(grpc::ServerContext* contex
     , const cmvr::api::SetDexHandForceCommand_Request* request
     , cmvr::api::SetDexHandForceCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.DexHandService/SetDexHandForce", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -525,7 +525,7 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandSpeed(grpc::ServerContext* contex
     , const cmvr::api::SetDexHandSpeedCommand_Request* request
     , cmvr::api::SetDexHandSpeedCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.DexHandService/SetDexHandSpeed", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -573,7 +573,7 @@ grpc::Status gRPCDexHandServiceImpl::SetDexHandPresetAct(grpc::ServerContext* co
     , const cmvr::api::SetDexHandPresetActCommand_Request* request
     , cmvr::api::SetDexHandPresetActCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.DexHandService/SetDexHandPresetAct", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();

cmvr-es/service/grpc/server/src/grpc_error_logging_interceptor.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_error_logging_interceptor.h"
+#include "service/grpc/server/include/grpc_error_logging_interceptor.h"
 
 #include <atomic>
 #include <chrono>

cmvr-es/service/grpc/server/src/grpc_head_service.cpp

@@ -5,10 +5,10 @@
 #include "manager/device_manager/include/device_manager.h"
 #include "common/base/grpc_utils.h"
 #include "biohead/biohead_esp32/include/biohead_esp32.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 #include <chrono>
 #include <algorithm>
 #include <iostream>
@@ -65,7 +65,7 @@ grpc::Status executeHeadOperationalCommand(
     Operation&& operation)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway, context, device_manager.safetyCoordinator(),
+        security_gateway, context, device_manager.safetyManager(),
         full_method_name, request, response,
         [&device_manager, request, response, rpc_name,
          operation = std::forward<Operation>(operation)](
@@ -245,7 +245,7 @@ grpc::Status gRPCMBioHeadServiceImpl::StreamExpression(
                 safety_open.deadline =
                     cmvr_grpc_call_guard.context().deadline;
                 safety_session.emplace(
-                    dmgr_.safetyCoordinator(),
+                    dmgr_.safetyManager(),
                     cmvr_grpc_call_guard.context(),
                     std::move(safety_open));
                 if (!safety_session->admitted()) {
@@ -417,7 +417,7 @@ grpc::Status gRPCMBioHeadServiceImpl::EmergencyStop(
     EmergencyStop_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.BioHeadService/EmergencyStop", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
             const string dev_id = request->header().device_id();
@@ -460,7 +460,7 @@ grpc::Status gRPCMBioHeadServiceImpl::SpeakStart(grpc::ServerContext* context, c
 grpc::Status gRPCMBioHeadServiceImpl::SpeakStop(grpc::ServerContext* context, const cmvr::api::SpeakStop_Request* request, cmvr::api::SpeakStop_Feedback* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.BioHeadService/SpeakStop", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
             const string dev_id = request->header().device_id();

cmvr-es/service/grpc/server/src/grpc_hlc_service.cpp

@@ -14,9 +14,9 @@
 
 #include "common/base/logging/logger.h"
 #include "manager/task_manager/include/task_manager.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 #include "task/touch_screen_task/include/touch_screen_task.h"
 
 
@@ -92,7 +92,7 @@ grpc::Status gRPCHlcServiceImpl::touch(
     normalized_request.mutable_header()->set_device_id(arm_id);
 
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.HlcService/touch", &normalized_request, response,
         [context, request, response, touch_task](
             GrpcCommandTransaction& command) {

cmvr-es/service/grpc/server/src/grpc_microphone_service.cpp

@@ -1,8 +1,8 @@
 #include "common/base/logging/logger.h"
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/grpc_security.h"
 #include <algorithm>
 #include <chrono>
 #include <cstdint>
@@ -84,7 +84,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::GetStatus(grpc::ServerContext* context,
 grpc::Status gRPCMicroPhoneServiceImpl::StartRecord(grpc::ServerContext* context,
     const api::StartMicRecordingCommand_Request* request, api::StartMicRecordingCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MicPhoneService/StartRecord", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -131,7 +131,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::StartRecord(grpc::ServerContext* context
 grpc::Status gRPCMicroPhoneServiceImpl::StopRecord(grpc::ServerContext* context,
     const api::StopMicRecordingCommand_Request* request, api::StopMicRecordingCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MicPhoneService/StopRecord", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -154,7 +154,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::StopRecord(grpc::ServerContext* context,
 grpc::Status gRPCMicroPhoneServiceImpl::PauseRecord(grpc::ServerContext* context,
     const api::PauseMicRecordingCommand_Request* request, api::PauseMicRecordingCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MicPhoneService/PauseRecord", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -177,7 +177,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::PauseRecord(grpc::ServerContext* context
 grpc::Status gRPCMicroPhoneServiceImpl::ResumeRecord(grpc::ServerContext* context,
     const api::ResumeMicRecordingCommand_Request* request, api::ResumeMicRecordingCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MicPhoneService/ResumeRecord", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -240,7 +240,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::StreamAudio(grpc::ServerContext* context
             return grpc::Status::OK;
         }
 
-        auto& media_hub = cmvr::media::globalMediaSourceHub();
+        auto& media_hub = cmvr::media::globalMediaSourceManager();
         const std::string track_id = cmvr::media::microphoneTrackId(dev_id);
         bool source_ready = false;
         const bool source_setup_allowed = media_session.runIfCurrent([&] {
@@ -260,15 +260,15 @@ grpc::Status gRPCMicroPhoneServiceImpl::StreamAudio(grpc::ServerContext* context
         }
 
         auto source_dispatch = cmvr::media::beginMediaSourceStartDispatch(
-            dmgr_.safetyCoordinator(), dev_id);
+            dmgr_.safetyManager(), dev_id);
         auto subscription = source_dispatch.acquired()
             ? media_hub.subscribe(
             track_id,
-            cmvr::media::MediaSourceHub::StartPosition::NEXT_PUBLISHED,
+            cmvr::media::MediaSourceManager::StartPosition::NEXT_PUBLISHED,
             [context, &media_session] {
                 return context->IsCancelled() || media_session.cancelled();
             })
-            : cmvr::media::MediaSourceHub::Subscription{};
+            : cmvr::media::MediaSourceManager::Subscription{};
         if (!subscription) {
             api::StreamMicAudioCommand_Feedback feedback;
             feedback.mutable_header()->set_success(false);
@@ -356,7 +356,7 @@ grpc::Status gRPCMicroPhoneServiceImpl::StreamAudio(grpc::ServerContext* context
 grpc::Status gRPCMicroPhoneServiceImpl::SetVolume(grpc::ServerContext* context,
     const api::SetMicPhoneVolumeCommand_Request* request, api::SetMicPhoneVolumeCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MicPhoneService/SetVolume", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();

cmvr-es/service/grpc/server/src/grpc_motor_service.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_motor_service.h"
+#include "service/grpc/server/include/grpc_motor_service.h"
 
 #include <algorithm>
 #include <chrono>
@@ -15,9 +15,9 @@
 #include "common/base/logging/logger.h"
 #include "devices/motor/manager/include/motor_manager.h"
 #include "manager/device_manager/include/device_manager.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 
@@ -870,7 +870,7 @@ grpc::Status gRPCMotorServiceImpl::setZero(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/setZero", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -892,7 +892,7 @@ grpc::Status gRPCMotorServiceImpl::moveToZero(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/moveToZero", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -914,7 +914,7 @@ grpc::Status gRPCMotorServiceImpl::profilePosition(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/profilePosition", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -936,7 +936,7 @@ grpc::Status gRPCMotorServiceImpl::profileVelocity(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/profileVelocity", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -1004,7 +1004,7 @@ grpc::Status gRPCMotorServiceImpl::emergencyStop(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/emergencyStop", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -1039,7 +1039,7 @@ grpc::Status gRPCMotorServiceImpl::setEnabled(
     api::MotorCommandResponse* response)
 {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.MotorService/setEnabled", request, response,
         [this, context, request, response](GrpcCommandTransaction& command) {
             return runUnaryGuarded(
@@ -1821,7 +1821,7 @@ grpc::Status gRPCMotorServiceImpl::streamCyclicPositionImpl(
     safety_open.authority_generation = generation;
     safety_open.deadline = request_context.deadline;
     GrpcStreamingSafetySession safety_session(
-        dmgr_.safetyCoordinator(), request_context,
+        dmgr_.safetyManager(), request_context,
         std::move(safety_open));
     if (!safety_session.admitted()) {
         return safety_session.status();
@@ -1980,7 +1980,7 @@ grpc::Status gRPCMotorServiceImpl::streamCyclicVelocityImpl(
     safety_open.authority_generation = generation;
     safety_open.deadline = request_context.deadline;
     GrpcStreamingSafetySession safety_session(
-        dmgr_.safetyCoordinator(), request_context,
+        dmgr_.safetyManager(), request_context,
         std::move(safety_open));
     if (!safety_session.admitted()) {
         return safety_session.status();

cmvr-es/service/grpc/server/src/grpc_recovery_audit.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_recovery_audit.h"
+#include "service/grpc/server/include/grpc_recovery_audit.h"
 
 #include <cerrno>
 #include <cstring>

cmvr-es/service/grpc/server/src/grpc_robot_arm_teleop_backend.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_robot_arm_teleop_backend.h"
+#include "service/grpc/server/include/grpc_robot_arm_teleop_backend.h"
 
 #include <algorithm>
 #include <chrono>

cmvr-es/service/grpc/server/src/grpc_safety_participants.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_safety_participants.h"
+#include "service/grpc/server/include/grpc_safety_participants.h"
 
 #include <algorithm>
 #include <atomic>
@@ -12,16 +12,16 @@
 #include <utility>
 #include <vector>
 
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
-#include "manager/safety/include/safety_coordinator.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
+#include "manager/safety_manager/include/safety_manager.h"
 #include "manager/task_manager/include/task_manager.h"
-#include "service/action/include/action_queue_executor.h"
-#include "service/grpc/include/camera_operational_activity_registry.h"
-#include "service/grpc/include/camera_ptz_activity_registry.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/motor_activity_coordinator.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
-#include "service/stop_all/include/stop_operation_dispatcher.h"
+#include "service/grpc/action/include/action_queue_executor.h"
+#include "service/grpc/server/include/camera_operational_activity_registry.h"
+#include "service/grpc/server/include/camera_ptz_activity_registry.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/motor_activity_coordinator.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_operation_dispatcher.h"
 
 namespace cmvr::service {
 
@@ -966,7 +966,7 @@ std::vector<DeferredStopOperation> mediaSourceStopOperations()
     const auto merge = [&unique_ids](const std::vector<std::string>& ids) {
         unique_ids.insert(ids.begin(), ids.end());
     };
-    merge(media::globalMediaSourceHub().trackedSourceIds());
+    merge(media::globalMediaSourceManager().trackedSourceIds());
     merge(globalCameraOperationalActivityRegistry().trackedDeviceIds());
 
     std::vector<DeferredStopOperation> operations;
@@ -976,7 +976,7 @@ std::vector<DeferredStopOperation> mediaSourceStopOperations()
             "media-source:" + id,
             [id] {
                 std::vector<std::string> failures;
-                bool stopped = media::globalMediaSourceHub()
+                bool stopped = media::globalMediaSourceManager()
                     .stopSourcesForDevice(id, &failures);
                 if (!globalCameraOperationalActivityRegistry()
                          .stopActivitiesForDevice(id, &failures)) {
@@ -996,11 +996,11 @@ struct SharedParticipants {
 };
 
 std::mutex shared_participants_mutex;
-std::unordered_map<safety::SafetyCoordinator*, SharedParticipants>
+std::unordered_map<safety::SafetyManager*, SharedParticipants>
     shared_participants;
 
 void acquireSharedParticipants(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     const std::shared_ptr<StopOperationDispatcher>& dispatcher)
 {
     std::lock_guard lock(shared_participants_mutex);
@@ -1057,7 +1057,7 @@ void acquireSharedParticipants(
     shared_participants.emplace(&coordinator, std::move(entry));
 }
 
-void releaseSharedParticipants(safety::SafetyCoordinator& coordinator) noexcept
+void releaseSharedParticipants(safety::SafetyManager& coordinator) noexcept
 {
     try {
         std::lock_guard lock(shared_participants_mutex);
@@ -1078,7 +1078,7 @@ void releaseSharedParticipants(safety::SafetyCoordinator& coordinator) noexcept
 } // namespace
 
 struct GrpcSafetyParticipantRegistration::Impl {
-    safety::SafetyCoordinator* coordinator{nullptr};
+    safety::SafetyManager* coordinator{nullptr};
     std::string action_participant_id;
     bool shared_acquired{false};
 
@@ -1112,7 +1112,7 @@ GrpcSafetyParticipantRegistration::operator=(
 
 std::unique_ptr<GrpcSafetyParticipantRegistration>
 registerGrpcSafetyParticipants(
-    safety::SafetyCoordinator& coordinator,
+    safety::SafetyManager& coordinator,
     std::shared_ptr<ActionQueueExecutor> action_queue,
     std::shared_ptr<StopOperationDispatcher> stop_dispatcher)
 {

cmvr-es/service/grpc/server/src/grpc_safety_proto.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_safety_proto.h"
+#include "service/grpc/server/include/grpc_safety_proto.h"
 
 #include <cstdint>
 

cmvr-es/service/grpc/server/src/grpc_security.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_security.h"
+#include "service/grpc/server/include/grpc_security.h"
 
 #include <algorithm>
 #include <atomic>

cmvr-es/service/grpc/server/src/grpc_speaker_service.cpp

@@ -1,7 +1,7 @@
 #include "common/base/logging/logger.h"
-#include "service/grpc/include/grpc_command_transaction.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/grpc_security.h"
+#include "service/grpc/server/include/grpc_command_transaction.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/grpc_security.h"
 #include <memory>
 #include <optional>
 #include <utility>
@@ -147,7 +147,7 @@ grpc::Status gRPCSpeakerServiceImpl::GetStatus(grpc::ServerContext* context,
 grpc::Status gRPCSpeakerServiceImpl::PlayAudio(grpc::ServerContext* context,
     const api::PlayAudioCommand_Request* request, api::PlayAudioCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.SpeakerService/PlayAudio", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -240,7 +240,7 @@ grpc::Status gRPCSpeakerServiceImpl::StreamAudio(grpc::ServerContext* context,
                 safety_open.deadline =
                     cmvr_grpc_call_guard.context().deadline;
                 safety_session.emplace(
-                    dmgr_.safetyCoordinator(),
+                    dmgr_.safetyManager(),
                     cmvr_grpc_call_guard.context(),
                     std::move(safety_open));
                 if (!safety_session->admitted()) {
@@ -307,7 +307,7 @@ grpc::Status gRPCSpeakerServiceImpl::StreamAudio(grpc::ServerContext* context,
 grpc::Status gRPCSpeakerServiceImpl::StopPlayback(grpc::ServerContext* context,
     const api::StopSpeakerCommand_Request* request, api::StopSpeakerCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.SpeakerService/StopPlayback", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -332,7 +332,7 @@ grpc::Status gRPCSpeakerServiceImpl::StopPlayback(grpc::ServerContext* context,
 grpc::Status gRPCSpeakerServiceImpl::PausePlayback(grpc::ServerContext* context,
     const api::PauseSpeakerCommand_Request* request, api::PauseSpeakerCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.SpeakerService/PausePlayback", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();
@@ -355,7 +355,7 @@ grpc::Status gRPCSpeakerServiceImpl::PausePlayback(grpc::ServerContext* context,
 grpc::Status gRPCSpeakerServiceImpl::ResumePlayback(grpc::ServerContext* context,
     const api::ResumeSpeakerCommand_Request* request, api::ResumeSpeakerCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.SpeakerService/ResumePlayback", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         auto media_session = globalMediaActivityCoordinator().beginSession();
@@ -396,7 +396,7 @@ grpc::Status gRPCSpeakerServiceImpl::ResumePlayback(grpc::ServerContext* context
 grpc::Status gRPCSpeakerServiceImpl::SetVolume(grpc::ServerContext* context,
     const api::SetSpeakerVolumeCommand_Request* request, api::SetSpeakerVolumeCommand_Feedback* response) {
     return executeRegisteredGrpcCommand(
-        security_gateway_, context, dmgr_.safetyCoordinator(),
+        security_gateway_, context, dmgr_.safetyManager(),
         "/cmvr.api.SpeakerService/SetVolume", request, response,
         [this, request, response](GrpcCommandTransaction& command) {
         string dev_id = request->header().device_id();

cmvr-es/service/grpc/server/src/grpc_system_service.cpp

@@ -27,20 +27,20 @@
 #include "devices/gripper/abstract_gripper.h"
 #include "devices/microphone/abstract_microphone.h"
 #include "devices/speaker/abstract_speaker.h"
-#include "manager/control_authority/include/control_authority_manager.h"
-#include "manager/media_source_hub/include/device_media_source_adapter.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
+#include "manager/media_source_manager/include/device_media_source_adapter.h"
 #include "manager/task_manager/include/task_manager.h"
-#include "service/action/include/action_queue_executor.h"
-#include "service/grpc/include/camera_operational_activity_registry.h"
-#include "service/grpc/include/camera_ptz_activity_registry.h"
-#include "service/grpc/include/grpc_recovery_audit.h"
-#include "service/grpc/include/grpc_safety_proto.h"
-#include "service/grpc/include/grpc_safety_participants.h"
-#include "service/grpc/include/grpc_security.h"
-#include "service/grpc/include/media_activity_coordinator.h"
-#include "service/grpc/include/motor_activity_coordinator.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
-#include "service/stop_all/include/stop_operation_dispatcher.h"
+#include "service/grpc/action/include/action_queue_executor.h"
+#include "service/grpc/server/include/camera_operational_activity_registry.h"
+#include "service/grpc/server/include/camera_ptz_activity_registry.h"
+#include "service/grpc/server/include/grpc_recovery_audit.h"
+#include "service/grpc/server/include/grpc_safety_proto.h"
+#include "service/grpc/server/include/grpc_safety_participants.h"
+#include "service/grpc/server/include/grpc_security.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/motor_activity_coordinator.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_operation_dispatcher.h"
 
 using namespace cmvr::device;
 using namespace cmvr::service;
@@ -718,7 +718,7 @@ StopOutcome stopCameraActivities(
     const std::shared_ptr<cmvr::device::AbstractCamera>& camera)
 {
     std::vector<std::string> failures;
-    bool stopped = cmvr::media::globalMediaSourceHub()
+    bool stopped = cmvr::media::globalMediaSourceManager()
         .stopSourcesForDevice(device_id, &failures);
     if (!globalCameraPtzActivityRegistry().stopActivitiesForDevice(
             device_id, &failures)) {
@@ -767,7 +767,7 @@ StopOutcome stopMicrophone(
     const std::shared_ptr<cmvr::device::AbstractMicrophone>& microphone)
 {
     std::vector<std::string> failures;
-    bool stopped = cmvr::media::globalMediaSourceHub()
+    bool stopped = cmvr::media::globalMediaSourceManager()
         .stopSourcesForDevice(device_id, &failures);
     try {
         cmvr::device::MicrophoneState state{};
@@ -811,7 +811,7 @@ StopOutcome stopSpeaker(
 StopOutcome stopTrackedMediaActivities(const std::string& device_id)
 {
     std::vector<std::string> failures;
-    bool stopped = cmvr::media::globalMediaSourceHub()
+    bool stopped = cmvr::media::globalMediaSourceManager()
         .stopSourcesForDevice(device_id, &failures);
     if (!globalCameraPtzActivityRegistry().stopActivitiesForDevice(
             device_id, &failures)) {
@@ -1162,7 +1162,7 @@ gRPCSystemServiceImpl::gRPCSystemServiceImpl(
     acquireProcessStopDispatcher(stop_dispatcher_);
     try {
         safety_participant_registration_ = registerGrpcSafetyParticipants(
-            dmgr_.safetyCoordinator(), action_queue_, stop_dispatcher_);
+            dmgr_.safetyManager(), action_queue_, stop_dispatcher_);
     } catch (...) {
         releaseProcessStopDispatcher(stop_dispatcher_);
         throw;
@@ -1217,7 +1217,7 @@ grpc::Status gRPCSystemServiceImpl::GetSystemInfo(grpc::ServerContext* context,
             toString(security.recovery_exposure));
         response->set_grpc_insecure_non_loopback(
             security.insecure_non_loopback);
-        const auto safety = dmgr_.safetyCoordinator().snapshot();
+        const auto safety = dmgr_.safetyManager().snapshot();
         response->set_control_service_instance_id(
             safety.service_instance_id);
         response->set_safety_enforcement_mode(
@@ -1365,7 +1365,7 @@ grpc::Status gRPCSystemServiceImpl::GetSafetyState(
         return grpc::Status(grpc::StatusCode::INVALID_ARGUMENT, scope.error);
     }
 
-    const auto snapshot = dmgr_.safetyCoordinator().snapshot();
+    const auto snapshot = dmgr_.safetyManager().snapshot();
     response->set_system_state(
         toApiSystemAdmissionState(snapshot.system_state));
     response->set_safety_epoch(snapshot.safety_epoch);
@@ -1486,7 +1486,7 @@ grpc::Status gRPCSystemServiceImpl::RecoverSafetyState(
     auto deadline = cmvr_grpc_call_guard.context().deadline;
     const auto configured_deadline =
         cmvr::safety::SafetyClock::now() +
-        dmgr_.safetyCoordinator().config().recovery_timeout;
+        dmgr_.safetyManager().config().recovery_timeout;
     if (deadline == cmvr::safety::SafetyClock::time_point::max() ||
         configured_deadline < deadline) {
         deadline = configured_deadline;
@@ -1528,7 +1528,7 @@ grpc::Status gRPCSystemServiceImpl::RecoverSafetyState(
     }
 
     const auto result =
-        dmgr_.safetyCoordinator().recover(coordinator_request);
+        dmgr_.safetyManager().recover(coordinator_request);
     response->set_recovery_id(result.recovery_id);
     response->set_result(toApiRecoveryResult(result.result));
     response->set_previous_safety_epoch(result.previous_safety_epoch);
@@ -1544,7 +1544,7 @@ grpc::Status gRPCSystemServiceImpl::RecoverSafetyState(
     header->set_success(success);
     header->set_command_id(request->recovery_id());
     header->set_service_instance_id(
-        dmgr_.safetyCoordinator().serviceInstanceId());
+        dmgr_.safetyManager().serviceInstanceId());
     header->set_safety_epoch(result.current_safety_epoch);
     header->set_execution_state(
         success ? cmvr::api::COMMAND_EXECUTION_STATE_COMPLETED
@@ -1596,7 +1596,7 @@ grpc::Status gRPCSystemServiceImpl::StopAll(grpc::ServerContext* context,
             grpc::StatusCode::INVALID_ARGUMENT,
             "StopAll request and response are required");
     }
-    if (dmgr_.safetyCoordinator().config().enforcement_mode !=
+    if (dmgr_.safetyManager().config().enforcement_mode !=
         cmvr::safety::EnforcementMode::Legacy) {
         auto deadline = cmvr_grpc_call_guard.context().deadline;
         const auto configured_deadline =
@@ -1616,7 +1616,7 @@ grpc::Status gRPCSystemServiceImpl::StopAll(grpc::ServerContext* context,
         if (operation_id.empty() && request->has_header()) {
             operation_id = request->header().command_id();
         }
-        const auto result = dmgr_.safetyCoordinator().stopAll(
+        const auto result = dmgr_.safetyManager().stopAll(
             std::move(operation_id), deadline);
         response->set_operation_id(result.operation_id);
         response->set_previous_safety_epoch(
@@ -1633,7 +1633,7 @@ grpc::Status gRPCSystemServiceImpl::StopAll(grpc::ServerContext* context,
         header->set_success(result.success);
         header->set_command_id(result.operation_id);
         header->set_service_instance_id(
-            dmgr_.safetyCoordinator().serviceInstanceId());
+            dmgr_.safetyManager().serviceInstanceId());
         header->set_safety_epoch(result.current_safety_epoch);
         header->set_execution_state(
             result.success
@@ -1826,7 +1826,7 @@ grpc::Status gRPCSystemServiceImpl::StopAll(grpc::ServerContext* context,
             tracked_media_ids.insert(ids.begin(), ids.end());
         };
         merge_tracked_ids(
-            cmvr::media::globalMediaSourceHub().trackedSourceIds());
+            cmvr::media::globalMediaSourceManager().trackedSourceIds());
         merge_tracked_ids(
             globalCameraPtzActivityRegistry().trackedDeviceIds());
         merge_tracked_ids(

cmvr-es/service/grpc/server/src/media_activity_coordinator.cpp

@@ -1,7 +1,7 @@
-#include "service/grpc/include/media_activity_coordinator.h"
+#include "service/grpc/server/include/media_activity_coordinator.h"
 
 #include "common/base/logging/logger.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 #include <algorithm>
 #include <atomic>

cmvr-es/service/grpc/server/src/motor_activity_coordinator.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/motor_activity_coordinator.h"
+#include "service/grpc/server/include/motor_activity_coordinator.h"
 
 #include <algorithm>
 #include <condition_variable>

cmvr-es/service/grpc/server/tests/camera_operational_activity_registry_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/camera_operational_activity_registry.h"
+#include "service/grpc/server/include/camera_operational_activity_registry.h"
 
 #include <atomic>
 #include <chrono>
@@ -11,7 +11,7 @@
 
 #include <gtest/gtest.h>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {

cmvr-es/service/grpc/server/tests/camera_ptz_activity_registry_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/camera_ptz_activity_registry.h"
+#include "service/grpc/server/include/camera_ptz_activity_registry.h"
 
 #include <atomic>
 #include <chrono>
@@ -10,7 +10,7 @@
 
 #include <gtest/gtest.h>
 
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {

cmvr-es/service/grpc/server/tests/grpc_agv_service_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_agv_service.h"
+#include "service/grpc/server/include/grpc_agv_service.h"
 
 #include <chrono>
 #include <future>
@@ -11,9 +11,9 @@
 #include <gtest/gtest.h>
 
 #include "cmvr/config/device_manager_config/device_manager_config.pb.h"
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 #include "manager/device_manager/include/device_manager.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {

cmvr-es/service/grpc/server/tests/grpc_arm_service_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_arm_service.h"
+#include "service/grpc/server/include/grpc_arm_service.h"
 
 #include <chrono>
 #include <cstdio>
@@ -20,10 +20,10 @@
 #include <unistd.h>
 
 #include "cmvr/config/device_manager_config/device_manager_config.pb.h"
-#include "manager/control_authority/include/control_authority_manager.h"
+#include "manager/control_authority_manager/include/control_authority_manager.h"
 #include "manager/device_manager/include/device_manager.h"
-#include "service/grpc/include/grpc_error_logging_interceptor.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "service/grpc/server/include/grpc_error_logging_interceptor.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {
@@ -599,7 +599,7 @@ protected:
         header->set_command_id(command_id);
         header->set_expected_service_instance_id(
             device::DeviceManager::getInstance()
-                .safetyCoordinator()
+                .safetyManager()
                 .serviceInstanceId());
         header->set_valid_for_ms(1000);
         request.mutable_target()->add_position(position);

cmvr-es/service/grpc/server/tests/grpc_arm_teleop_service_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_arm_teleop_service.h"
+#include "service/grpc/server/include/grpc_arm_teleop_service.h"
 
 #include <atomic>
 #include <chrono>
@@ -17,9 +17,9 @@
 #include <gtest/gtest.h>
 #include <unistd.h>
 
-#include "manager/safety/include/device_safety_endpoint.h"
-#include "manager/safety/include/safety_coordinator.h"
-#include "service/stop_all/include/stop_all_admission_gate.h"
+#include "manager/safety_manager/include/device_safety_endpoint.h"
+#include "manager/safety_manager/include/safety_manager.h"
+#include "service/grpc/stop_all/include/stop_all_admission_gate.h"
 
 namespace cmvr::service {
 namespace {
@@ -338,10 +338,10 @@ class TeleopServerHarness final {
 public:
     explicit TeleopServerHarness(
         std::shared_ptr<ArmTeleopBackend> backend,
-        safety::SafetyCoordinator* safety_coordinator = nullptr)
+        safety::SafetyManager* safety_manager = nullptr)
         : service_(
               std::move(backend), nullptr, nullptr,
-              safety_coordinator)
+              safety_manager)
     {
         socket_path_ =
             "/tmp/cmvr_arm_teleop_service_test_" +
@@ -862,9 +862,9 @@ TEST(ArmTeleopServiceTest,
 TEST(ArmTeleopServiceTest,
      CoordinatorInvalidationStopsExistingSessionBeforeAnotherSetpoint)
 {
-    safety::SafetyCoordinatorConfig config;
+    safety::SafetyManagerConfig config;
     config.enforcement_mode = safety::EnforcementMode::EnforceAll;
-    safety::SafetyCoordinator coordinator(config);
+    safety::SafetyManager coordinator(config);
     auto endpoint = std::make_shared<FakeTeleopSafetyEndpoint>();
     ASSERT_TRUE(coordinator.registerDevice(
         {endpoint->descriptor(), endpoint, {}}));

cmvr-es/service/grpc/server/tests/grpc_camera_stream_policy_test.cpp

@@ -1,4 +1,4 @@
-#include "service/grpc/include/grpc_camera_stream_policy.h"
+#include "service/grpc/server/include/grpc_camera_stream_policy.h"
 
 #include <chrono>
 #include <cstdint>