33 lines
2.3 KiB
C++
33 lines
2.3 KiB
C++
//
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// Created by linbo on 2025/7/3.
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//
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#ifndef GRPC_DEXHAND_SERVICE_H
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#define GRPC_DEXHAND_SERVICE_H
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#include "cmvr/api/dexhand_service.grpc.pb.h"
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#include "../utils/base/grpc_utils.h"
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#include "device_manager/device_manager.h"
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namespace cmvr::service {
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class gRPCDexHandServiceImpl final: public api::DexHandService::Service {
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public:
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gRPCDexHandServiceImpl();
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~gRPCDexHandServiceImpl() override = default;
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grpc::Status GetStatus(grpc::ServerContext* context, const api::GetDexHandStateCommand_Request* request,api::GetDexHandStateCommand_Feedback* response) override;
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grpc::Status SetDexHandPos(grpc::ServerContext* context, const cmvr::api::SetDexHandPositionsCommand_Request* request, cmvr::api::SetDexHandPositionsCommand_Feedback* response) override;
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grpc::Status SetDexHandAngle(grpc::ServerContext* context, const cmvr::api::SetDexHandAnglesCommand_Request* request, cmvr::api::SetDexHandAnglesCommand_Feedback* response) override;
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grpc::Status SetDexHandForce(grpc::ServerContext* context, const cmvr::api::SetDexHandForceCommand_Request* request, cmvr::api::SetDexHandForceCommand_Feedback* response) override;
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grpc::Status SetDexHandSpeed(grpc::ServerContext* context, const cmvr::api::SetDexHandSpeedCommand_Request* request, cmvr::api::SetDexHandSpeedCommand_Feedback* response) override;
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grpc::Status SetDexHandPresetAct(grpc::ServerContext* context, const cmvr::api::SetDexHandPresetActCommand_Request* request, cmvr::api::SetDexHandPresetActCommand_Feedback* response) override;
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grpc::Status GetSensorData(grpc::ServerContext* context, const cmvr::api::GetSensorDataCommand_Request* request, cmvr::api::GetSensorDataCommand_Feedback* response) override;
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grpc::Status GetSensorDataStream(grpc::ServerContext* context, grpc::ServerReaderWriter<cmvr::api::GetSensorDataStreamCommand_Feedback, cmvr::api::GetSensorDataStreamCommand_Request>* stream) override;
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private:
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device::DeviceManager& dmgr_;
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// 静态成员声明（关键！必须在类内声明）
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static const std::unordered_map<std::string, int> kIdToIndex; // 字符串id→索引
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static const std::vector<std::string> kIndexToId; // 索引→字符串id
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};
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}
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#endif //GRPC_DEXHAND_SERVICE_H
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