xtkuang
f4be2ffaaa
Add the DeviceManager-owned safety coordinator, shared sensor/control policies, command ledger, service guards, generalized StopAll, and RecoverSafetyState. Preserve device-side hardware checks and AUBO hardware E-stop release reconciliation while keeping software E-stop independently latched.
38 lines
2.2 KiB
C++
38 lines
2.2 KiB
C++
//
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// Created by linbo on 2025/6/13.
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// Created by xtkuang on 2025/6/13.
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//
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#ifndef GRPC_MICROPHONE_SERVICE_H
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#define GRPC_MICROPHONE_SERVICE_H
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#include <memory>
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#include "cmvr/api/microphone_service.grpc.pb.h"
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#include "manager/device_manager/include/device_manager.h"
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#include "devices/microphone/abstract_microphone.h"
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#include "common/base/grpc_utils.h"
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namespace cmvr::service
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{
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class GrpcSecurityGateway;
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class gRPCMicroPhoneServiceImpl: public api::MicPhoneService::Service {
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public:
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gRPCMicroPhoneServiceImpl();
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explicit gRPCMicroPhoneServiceImpl(
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std::shared_ptr<GrpcSecurityGateway> security_gateway);
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~gRPCMicroPhoneServiceImpl() override = default;
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grpc::Status GetStatus(grpc::ServerContext* context, const api::GetMicStateCommand_Request* request,api::GetMicStateCommand_Feedback* response) override;
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grpc::Status StartRecord(grpc::ServerContext* context, const api::StartMicRecordingCommand_Request* request,api::StartMicRecordingCommand_Feedback* response) override;
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grpc::Status StopRecord(grpc::ServerContext* context, const api::StopMicRecordingCommand_Request* request,api::StopMicRecordingCommand_Feedback* response) override;
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grpc::Status PauseRecord(grpc::ServerContext* context, const api::PauseMicRecordingCommand_Request* request,api::PauseMicRecordingCommand_Feedback* response) override;
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grpc::Status ResumeRecord(grpc::ServerContext* context, const api::ResumeMicRecordingCommand_Request* request,api::ResumeMicRecordingCommand_Feedback* response) override;
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grpc::Status StreamAudio(grpc::ServerContext* context, const api::StreamMicAudioCommand_Request* request, grpc::ServerWriter<api::StreamMicAudioCommand_Feedback>* writer) override;
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grpc::Status SetVolume(grpc::ServerContext* context, const api::SetMicPhoneVolumeCommand_Request* request,api::SetMicPhoneVolumeCommand_Feedback* response) override;
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grpc::Status GetVolume(grpc::ServerContext* context, const api::GetMicPhoneVolumeCommand_Request* request,api::GetMicPhoneVolumeCommand_Feedback* response) override;
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private:
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device::DeviceManager& dmgr_;
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std::shared_ptr<GrpcSecurityGateway> security_gateway_;
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};
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}
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#endif //GRPC_MICROPHONE_SERVICE_H
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