gripper_server.hpp

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#pragma once
 
#include <viam/api/component/gripper/v1/gripper.grpc.pb.h>
#include <viam/api/component/gripper/v1/gripper.pb.h>
 
#include <viam/sdk/components/gripper.hpp>
#include <viam/sdk/resource/resource_manager.hpp>
#include <viam/sdk/resource/resource_server_base.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class GripperServer : public ResourceServer,
                      public viam::component::gripper::v1::GripperService::Service {
   public:
    using interface_type = Gripper;
    using service_type = component::gripper::v1::GripperService;
 
    explicit GripperServer(std::shared_ptr<ResourceManager> manager);
 
    ::grpc::Status Open(::grpc::ServerContext* context,
                        const ::viam::component::gripper::v1::OpenRequest* request,
                        ::viam::component::gripper::v1::OpenResponse* response) noexcept override;
 
    ::grpc::Status Grab(::grpc::ServerContext* context,
                        const ::viam::component::gripper::v1::GrabRequest* request,
                        ::viam::component::gripper::v1::GrabResponse* response) noexcept override;
 
    ::grpc::Status Stop(::grpc::ServerContext* context,
                        const ::viam::component::gripper::v1::StopRequest* request,
                        ::viam::component::gripper::v1::StopResponse* response) noexcept override;
 
    ::grpc::Status IsMoving(
        ::grpc::ServerContext* context,
        const ::viam::component::gripper::v1::IsMovingRequest* request,
        ::viam::component::gripper::v1::IsMovingResponse* response) noexcept override;
 
    ::grpc::Status DoCommand(::grpc::ServerContext* context,
                             const ::viam::common::v1::DoCommandRequest* request,
                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
 
    ::grpc::Status GetGeometries(
        ::grpc::ServerContext* context,
        const ::viam::common::v1::GetGeometriesRequest* request,
        ::viam::common::v1::GetGeometriesResponse* response) noexcept override;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam