//
// Created by linbo on 2025/7/3.
//

#ifndef GRPC_DEXHAND_SERVICE_H
#define GRPC_DEXHAND_SERVICE_H

#include "cmvr/api/dexhand_service.grpc.pb.h"
#include "../utils/base/grpc_utils.h"
#include "device_manager/device_manager.h"
namespace cmvr::service {
    class gRPCDexHandServiceImpl final: public api::DexHandService::Service {
    public:
        gRPCDexHandServiceImpl();
        ~gRPCDexHandServiceImpl() override = default;
        grpc::Status GetStatus(grpc::ServerContext* context, const api::GetDexHandStateCommand_Request* request,api::GetDexHandStateCommand_Feedback* response) override;
        grpc::Status SetDexHandPos(grpc::ServerContext* context, const cmvr::api::SetDexHandPositionsCommand_Request* request, cmvr::api::SetDexHandPositionsCommand_Feedback* response) override;
        grpc::Status SetDexHandAngle(grpc::ServerContext* context, const cmvr::api::SetDexHandAnglesCommand_Request* request, cmvr::api::SetDexHandAnglesCommand_Feedback* response) override;
        grpc::Status SetDexHandForce(grpc::ServerContext* context, const cmvr::api::SetDexHandForceCommand_Request* request, cmvr::api::SetDexHandForceCommand_Feedback* response) override;
        grpc::Status SetDexHandSpeed(grpc::ServerContext* context, const cmvr::api::SetDexHandSpeedCommand_Request* request, cmvr::api::SetDexHandSpeedCommand_Feedback* response) override;
        grpc::Status SetDexHandPresetAct(grpc::ServerContext* context, const cmvr::api::SetDexHandPresetActCommand_Request* request, cmvr::api::SetDexHandPresetActCommand_Feedback* response) override;
        grpc::Status GetSensorData(grpc::ServerContext* context, const cmvr::api::GetSensorDataCommand_Request* request, cmvr::api::GetSensorDataCommand_Feedback* response) override;
        grpc::Status GetSensorDataStream(grpc::ServerContext* context, grpc::ServerReaderWriter<cmvr::api::GetSensorDataStreamCommand_Feedback, cmvr::api::GetSensorDataStreamCommand_Request>* stream) override;
    private:
        device::DeviceManager& dmgr_;
    };

}

#endif //GRPC_DEXHAND_SERVICE_H