99 lines
3.5 KiB
C++
99 lines
3.5 KiB
C++
//
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// Created by xtkuang on 2025/5/6.
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//
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#include <unistd.h>
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#include <limits.h>
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#include <libgen.h>
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#include <iostream>
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#include <glog/logging.h>
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#include "device_manager/include/device_manager.h"
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#include "monitor_manager/include/monitor_manager.h"
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#include "service/grpc/include/grpc_camera_service.h"
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#include "service/grpc/include/grpc_system_service.h"
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#include "service/grpc/include/grpc_speaker_service.h"
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#include "service/grpc/include/grpc_microphone_service.h"
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#include "service/grpc/include/grpc_dexhand_service.h"
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#include "utils/base/include/logger.h"
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#include "service/grpc/include/grpc_head_service.h"
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#include "service/grpc/include/grpc_humanoid_robot_service.h"
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#include "service/grpc/include/grpc_hlc_service.h"
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#include "json/json.h"
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#include <grpcpp/ext/proto_server_reflection_plugin.h>
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void runServer(const XmlNode &cfg){
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using namespace cmvr::device;
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using namespace cmvr::service;
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using namespace cmvr::monitor;
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if (!cfg.hasChild("DeviceManager")){
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LOG(ERROR) << "Device Manager node not found";
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return;
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}
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try {
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// 🔥 关键！启用反射
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grpc::reflection::InitProtoReflectionServerBuilderPlugin();
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auto dmgr_cfg = cfg.getChild("DeviceManager");
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DeviceManager::getInstance(dmgr_cfg);
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auto mmgr_cfg = cfg.getChild("MonitorManager");
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MonitorManager::getInstance(mmgr_cfg);
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auto grpc_cfg = cfg.getChild("gRPCServer");
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string port = grpc_cfg.getAttrDefault("port", "50051");
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std::string address("0.0.0.0:" + port);
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auto camera_service = gRPCCameraServiceImpl();
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auto system_service = gRPCSystemServiceImpl();
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auto speaker_service = gRPCSpeakerServiceImpl();
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auto microphone_service = gRPCMicroPhoneServiceImpl();
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auto dexhand_service = gRPCDexHandServiceImpl();
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auto biohand_service = gRPCMBioHeadServiceImpl();
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auto humanoid_robot_service = gRPCHumanoidRobotServiceImpl();
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auto hlc_service = gRPCHlcServiceImpl();
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grpc::ServerBuilder builder;
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builder.AddListeningPort(address, grpc::InsecureServerCredentials());
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builder.RegisterService(&camera_service);
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builder.RegisterService(&system_service);
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builder.RegisterService(&speaker_service);
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builder.RegisterService(µphone_service);
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builder.RegisterService(&dexhand_service);
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builder.RegisterService(&biohand_service);
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builder.RegisterService(&humanoid_robot_service);
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builder.RegisterService(&hlc_service);
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// 🔥 关键！启用反射
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//grpc::reflection::InitProtoReflectionServerBuilderPlugin();
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const std::unique_ptr server(builder.BuildAndStart());
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std::cout << "Server listening on " << address << std::endl;
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server->Wait();
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}
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catch (std:: exception &e) {
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LOG(FATAL) << e.what();
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}
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}
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int main(int argc, char* argv[]) {
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std::string config_path;
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if(argc == 1) {
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char exe_path[PATH_MAX] = {0};
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ssize_t count = readlink("/proc/self/exe", exe_path, PATH_MAX);
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if (count == -1) {
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std::cerr << "Failed to read /proc/self/exe" << std::endl;
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return 1;
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}
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std::string exe_dir = dirname(exe_path);
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config_path = exe_dir + "/config/cabin_robot.xml";
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std::cout << "Using default config path: " << config_path << std::endl;
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}
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else if (argc == 2){
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config_path = argv[1];
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}
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const XmlNode config(config_path);
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initLogger(config.getChild("Logger"));
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runServer(config);
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google::ShutdownGoogleLogging();
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return 0;
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}
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