164 lines
7.2 KiB
C++
164 lines
7.2 KiB
C++
//
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// Created by xtkuang on 2025/6/6.
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//
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#include "service/grpc_system_service.h"
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using namespace cmvr::device;
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using namespace cmvr::device;
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using namespace cmvr::service;
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gRPCSystemServiceImpl::gRPCSystemServiceImpl(): dmgr_(DeviceManager::getInstance()) {}
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grpc::Status gRPCSystemServiceImpl::GetSystemInfo(grpc::ServerContext* context,
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const api::GetSystemInfoCommand_Request* request, api::GetSystemInfoCommand_Feedback* response)
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{
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try {
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SystemInfo info;
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dmgr_.getSystemInfo(info);
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response->set_version(info.version);
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response->set_system_name(info.name);
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response->set_os(info.os);
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response->set_kernel_version(info.kernel_version);
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response->set_architecture(info.architecture);
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response->mutable_header()->set_success(true);
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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return grpc::Status::OK;
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}
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catch (std::exception& e) {
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response->mutable_header()->set_success(false);
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response->mutable_header()->set_error_message(e.what());
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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return grpc::Status::OK;
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}
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}
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grpc::Status gRPCSystemServiceImpl::GetSystemStatus(grpc::ServerContext* context,
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const api::GetSystemStatusCommand_Request* request, api::GetSystemStatusCommand_Feedback* response)
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{
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try {
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SystemStatus status{};
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dmgr_.getSystemStatus(status);
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response->set_cpu_usage(status.cpu_usage);
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response->set_mem_total_mb(status.total_memory);
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response->set_mem_used_mb(status.used_memory);
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response->set_disk_total_gb(status.total_disk);
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response->set_disk_used_gb(status.used_disk);
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std::list<std::pair<std::string, std::string>> dev_list;
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dmgr_.getDeviceList(dev_list);
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for (auto &pair: dev_list) {
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auto* dev = response->add_device_list();
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dev->set_device_id(pair.first);
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if (pair.second == "AGV") {
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dev->set_device_type(api::DeviceType::AGV);
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}
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else if (pair.second == "Battery") {
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dev->set_device_type(api::DeviceType::Battery);
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}
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else if (pair.second == "Camera") {
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dev->set_device_type(api::DeviceType::Camera);
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}
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else if (pair.second == "DexHand") {
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dev->set_device_type(api::DeviceType::DexHand);
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}
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else if (pair.second == "Gripper") {
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dev->set_device_type(api::DeviceType::Gripper);
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}
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else if (pair.second == "Microphone") {
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dev->set_device_type(api::DeviceType::Microphone);
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}
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else if (pair.second == "Robot") {
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dev->set_device_type(api::DeviceType::Robot);
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}
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else if (pair.second == "Speaker") {
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dev->set_device_type(api::DeviceType::Speaker);
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}
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else if (pair.second == "Unknown") {
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dev->set_device_type(api::DeviceType::Unknown);
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}
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}
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response->mutable_header()->set_success(true);
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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return grpc::Status::OK;
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}
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catch (const std::exception &e) {
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response->mutable_header()->set_success(false);
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response->mutable_header()->set_error_message(e.what());
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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return grpc::Status::OK;
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}
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}
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grpc::Status gRPCSystemServiceImpl::UpdateParams(grpc::ServerContext* context, const cmvr::api::UpdateParamsCommand_Request* request, cmvr::api::UpdateParamsCommand_Feedback* response)
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{
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try {
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std::string dev_id = request->header().device_id();
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LOG(INFO) << "[gRPCSystemServiceImpl] (UpdateParams): id=" << dev_id;
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auto params = request->params();
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for (auto& param : params) {
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//遍历拿到需要配置的自由度,传入的是百分比0-1
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std::string param_name = param.param_name();
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std::string param_value_str; // 存储转换后的字符串值
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// 根据 oneof 类型分支转换
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switch (param.param_value_case()) {
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case cmvr::api::ConfigParam::kIntValue: {
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// 整数类型：用 std::to_string 转换
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int32_t int_val = param.int_value();
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param_value_str = std::to_string(int_val);
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break;
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}
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case cmvr::api::ConfigParam::kDoubleValue: {
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// 浮点数类型：用 std::to_string 转换（也可按需用 printf 控制精度）
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double double_val = param.double_value();
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param_value_str = std::to_string(double_val);
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// （可选）若需控制浮点数精度（如保留2位小数），可替换为：
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// char buf[64];
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// snprintf(buf, sizeof(buf), "%.2f", double_val);
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// param_value_str = buf;
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break;
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}
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case cmvr::api::ConfigParam::kStringValue: {
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// 字符串类型：直接赋值（本身就是 string）
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param_value_str = param.string_value();
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break;
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}
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case cmvr::api::ConfigParam::kBoolValue: {
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// 布尔类型：转为 "true" 或 "false"
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bool bool_val = param.bool_value();
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param_value_str = bool_val ? "true" : "false";
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break;
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}
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case cmvr::api::ConfigParam::kBytesValue: {
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// 二进制类型：可选方案（二选一，根据你的需求）
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// 方案1：转为十六进制字符串（推荐，二进制数据可视化）
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const auto& bytes_val = param.bytes_value();
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static const char hex_chars[] = "0123456789ABCDEF";
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std::string hex_str;
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hex_str.reserve(bytes_val.size() * 2); // 预分配空间，提升效率
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for (unsigned char c : bytes_val) {
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hex_str.push_back(hex_chars[c >> 4]);
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hex_str.push_back(hex_chars[c & 0x0F]);
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}
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param_value_str = hex_str; // 结果如 "A3B2C1"
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break;
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}
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case cmvr::api::ConfigParam::PARAM_VALUE_NOT_SET: {
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// 未设置值的异常场景：赋值为空字符串或标记
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param_value_str = "[UNSET]";
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LOG(WARNING) << "[UpdateParams] Param '" << param_name << "' has no value";
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break;
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}
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}
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dmgr_.updateParam(dev_id,std::pair<std::string,std::string>(param_name,param_value_str));
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}
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return grpc::Status::OK;
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}
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catch (std::exception& e) {
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response->mutable_header()->set_success(false);
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response->mutable_header()->set_error_message(e.what());
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setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
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return grpc::Status::OK;
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}
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} |