base_server.hpp

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#pragma once
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/component/base/v1/base.grpc.pb.h>
#include <viam/api/component/base/v1/base.pb.h>
 
#include <viam/sdk/components/base.hpp>
#include <viam/sdk/resource/resource_manager.hpp>
#include <viam/sdk/resource/resource_server_base.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class BaseServer : public ResourceServer, public viam::component::base::v1::BaseService::Service {
   public:
    using interface_type = Base;
    using service_type = component::base::v1::BaseService;
    explicit BaseServer(std::shared_ptr<ResourceManager> manager);
 
    ::grpc::Status MoveStraight(
        ::grpc::ServerContext* context,
        const ::viam::component::base::v1::MoveStraightRequest* request,
        ::viam::component::base::v1::MoveStraightResponse* response) noexcept override;
 
    ::grpc::Status Spin(::grpc::ServerContext* context,
                        const ::viam::component::base::v1::SpinRequest* request,
                        ::viam::component::base::v1::SpinResponse* response) noexcept override;
 
    ::grpc::Status SetPower(
        ::grpc::ServerContext* context,
        const ::viam::component::base::v1::SetPowerRequest* request,
        ::viam::component::base::v1::SetPowerResponse* response) noexcept override;
 
    ::grpc::Status SetVelocity(
        ::grpc::ServerContext* context,
        const ::viam::component::base::v1::SetVelocityRequest* request,
        ::viam::component::base::v1::SetVelocityResponse* response) noexcept override;
 
    ::grpc::Status Stop(::grpc::ServerContext* context,
                        const ::viam::component::base::v1::StopRequest* request,
                        ::viam::component::base::v1::StopResponse* response) noexcept override;
 
    ::grpc::Status IsMoving(
        ::grpc::ServerContext* context,
        const ::viam::component::base::v1::IsMovingRequest* request,
        ::viam::component::base::v1::IsMovingResponse* response) noexcept override;
 
    ::grpc::Status GetGeometries(
        ::grpc::ServerContext* context,
        const ::viam::common::v1::GetGeometriesRequest* request,
        ::viam::common::v1::GetGeometriesResponse* response) noexcept override;
 
    ::grpc::Status GetProperties(
        ::grpc::ServerContext* context,
        const ::viam::component::base::v1::GetPropertiesRequest* request,
        ::viam::component::base::v1::GetPropertiesResponse* response) noexcept override;
 
    ::grpc::Status DoCommand(grpc::ServerContext* context,
                             const viam::common::v1::DoCommandRequest* request,
                             viam::common::v1::DoCommandResponse* response) noexcept override;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam