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


#include "service/grpc_humanoid_robot_service.h"
#include <google/protobuf/util/time_util.h>
#include "robot/humanoid_robot/humanoid_robot.h"


using namespace cmvr::service;
using namespace cmvr::device;
using namespace cmvr::api;
using google::protobuf::util::TimeUtil;


gRPCHumanoidRobotServiceImpl::gRPCHumanoidRobotServiceImpl():dmgr_(DeviceManager::getInstance()){}


grpc::Status gRPCHumanoidRobotServiceImpl::torqueOff(grpc::ServerContext *context,
    const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) {

    grpc::Status ret = grpc::Status::OK;

    try {
        auto robot = dmgr_.getDevice<AbstractRobot>(request->device_id());
        robot->torqueOff();
        response->set_success(true);
        response->set_error_message("");
    }catch (const std::exception& e) {
        response->set_success(false);
        response->set_error_message(e.what());
        ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what());
    }
    *response->mutable_timestamp() = TimeUtil::GetCurrentTime();
    return ret;
}


grpc::Status gRPCHumanoidRobotServiceImpl::torqueOn(grpc::ServerContext *context,
    const cmvr::api::CommandHeader_Request *request, cmvr::api::CommandHeader_Feedback *response) {

    grpc::Status ret = grpc::Status::OK;

    try {
        auto robot = dmgr_.getDevice<AbstractRobot>(request->device_id());
        robot->torqueOn();
        response->set_success(true);
        response->set_error_message("");
    }catch (const std::exception& e) {
        response->set_success(false);
        response->set_error_message(e.what());
        ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what());
    }
    *response->mutable_timestamp() = TimeUtil::GetCurrentTime();
    return ret;
}


grpc::Status gRPCHumanoidRobotServiceImpl::moveJ(grpc::ServerContext *context,
    const cmvr::api::MoveJ_Request *request, cmvr::api::MoveJ_Response *response) {
    grpc::Status ret = grpc::Status::OK;

    try {
        auto robot = dmgr_.getDevice<AbstractRobot>(request->header().device_id());
        std::vector<JointPoint> cmds{};
        for (const auto& jc : request->cmds()) {
            cmds.emplace_back(jc.joint_name(),jc.rad(),jc.vel());
        }
        robot->moveJ(cmds,request->vel(),request->acc());

        response->mutable_header()->set_success(true);
        response->mutable_header()->set_error_message("");
    }catch (const std::exception& e) {
        response->mutable_header()->set_success(false);
        response->mutable_header()->set_error_message(e.what());
        ret = grpc::Status(grpc::StatusCode::INTERNAL, e.what());
    }
    *response->mutable_header()->mutable_timestamp() = TimeUtil::GetCurrentTime();
    return ret;
}