xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
75 lines
2.1 KiB
C++
75 lines
2.1 KiB
C++
#ifndef CMVR_ES_GRPC_SERVER_TASK_H
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#define CMVR_ES_GRPC_SERVER_TASK_H
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#include <memory>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <grpcpp/grpcpp.h>
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#include "cmvr/config/grpc_server_config/grpc_server_config.pb.h"
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#include "task/task.h"
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namespace cmvr::service {
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class ArmTeleopBackend;
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}
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namespace cmvr::task {
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class GrpcServerTask final : public Task {
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public:
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explicit GrpcServerTask(const config::GRPCServerConfig& cfg);
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~GrpcServerTask() override;
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const std::string& id() const override { return id_; }
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TaskRunMode runMode() const override { return TaskRunMode::BLOCKING_SERVICE; }
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bool init() override;
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bool start() override;
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bool step(double dt) override;
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void stop() override;
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TaskState state() const override;
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bool isBusy() const override;
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bool isFinished() const override;
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bool isFailed() const override;
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std::string stateString() const override;
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std::string detailStatusString() const override;
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std::string address() const;
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private:
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void waitLoop();
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void clearServices();
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config::GRPCServerConfig cfg_;
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std::string id_;
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mutable std::mutex mutex_;
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TaskState state_{TaskState::UNINITIALIZED};
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std::string address_;
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std::string last_error_;
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std::unique_ptr<grpc::Server> server_;
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std::thread wait_thread_;
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std::unique_ptr<grpc::Service> camera_service_;
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std::unique_ptr<grpc::Service> system_service_;
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std::unique_ptr<grpc::Service> speaker_service_;
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std::unique_ptr<grpc::Service> microphone_service_;
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std::unique_ptr<grpc::Service> dexhand_service_;
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std::unique_ptr<grpc::Service> biohand_service_;
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std::unique_ptr<grpc::Service> arm_service_;
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std::unique_ptr<grpc::Service> arm_teleop_service_;
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std::shared_ptr<cmvr::service::ArmTeleopBackend>
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arm_teleop_backend_;
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std::unique_ptr<grpc::Service> motor_service_;
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std::unique_ptr<grpc::Service> agv_service_;
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std::unique_ptr<grpc::Service> hlc_service_;
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};
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void registerGrpcServerTaskFactory();
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} // namespace cmvr::task
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#endif // CMVR_ES_GRPC_SERVER_TASK_H
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