//
// Created by Administrator on 2025/12/24.
//

#ifndef RTTHREAD_HEAD_SERVICE_IMPL_H
#define RTTHREAD_HEAD_SERVICE_IMPL_H


#include <stdint.h>
#include "erpc/proto/generated/face_servo_server.hpp"
#include "servo_manager/include/servo_manager.h"

extern "C" {
#include <rtthread.h>
}

class FaceServoServiceImpl : public erpcShim::FaceServo_interface
{
public:
    FaceServoServiceImpl();
    virtual ~FaceServoServiceImpl() = default;


    int32_t setAllAngles(const list_float_1_t* angles_deg) override;
    int32_t setAngle(const char* id, float angle_deg) override;
    int32_t setAngles(const list_ServoCmd_1_t* cmds) override;
private:
    ServoManager _servos;
    rt_err_t     _init_err;
    static const std::vector<ServoManager::ServoConfig> kServoCfg;

};


#endif //RTTHREAD_HEAD_SERVICE_IMPL_H