camera_server.hpp

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#pragma once
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/component/camera/v1/camera.grpc.pb.h>
 
#include <viam/sdk/components/camera.hpp>
#include <viam/sdk/resource/resource_manager.hpp>
#include <viam/sdk/resource/resource_server_base.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class CameraServer : public ResourceServer,
                     public viam::component::camera::v1::CameraService::Service {
   public:
    using interface_type = Camera;
    using service_type = component::camera::v1::CameraService;
    explicit CameraServer(std::shared_ptr<ResourceManager> manager);
 
    ::grpc::Status DoCommand(::grpc::ServerContext* context,
                             const ::viam::common::v1::DoCommandRequest* request,
                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
    ::grpc::Status GetImage(
        ::grpc::ServerContext* context,
        const ::viam::component::camera::v1::GetImageRequest* request,
        ::viam::component::camera::v1::GetImageResponse* response) noexcept override;
    ::grpc::Status GetImages(
        ::grpc::ServerContext* context,
        const ::viam::component::camera::v1::GetImagesRequest* request,
        ::viam::component::camera::v1::GetImagesResponse* response) noexcept override;
    ::grpc::Status RenderFrame(::grpc::ServerContext* context,
                               const ::viam::component::camera::v1::RenderFrameRequest* request,
                               ::google::api::HttpBody* response) noexcept override;
    ::grpc::Status GetPointCloud(
        ::grpc::ServerContext* context,
        const ::viam::component::camera::v1::GetPointCloudRequest* request,
        ::viam::component::camera::v1::GetPointCloudResponse* 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::camera::v1::GetPropertiesRequest* request,
        ::viam::component::camera::v1::GetPropertiesResponse* response) noexcept override;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam