//
// Created by lgv on 2025/8/25.
//


#include "../../../include/service/grpc_service/grpc_hlc_service.h"
#include <google/protobuf/util/time_util.h>
#include "robot/humanoid_robot/humanoid_robot.h"
#include "controller/touch_controller.h"


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

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

grpc::Status gRPCHlcServiceImpl::touch(grpc::ServerContext *context, const cmvr::api::Touch_Request *request, cmvr::api::Touch_Response *response) {

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

    try {
        std::shared_ptr<AbstractRobot> robot = nullptr;
        auto cam = dmgr_.getDevice<AbstractCamera>("cam4");
        auto hand = dmgr_.getDevice<AbstractDexHand>("hand1");
        ctrl::TouchController touch_controller(robot,hand,cam);;
        touch_controller.touch(request->u(),request->v(),request->max_force());
        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;
}