service.hpp

#pragma once
 
#include <signal.h>
 
#include <viam/api/component/generic/v1/generic.grpc.pb.h>
#include <viam/api/module/v1/module.grpc.pb.h>
 
#include <viam/sdk/module/module.hpp>
#include <viam/sdk/module/signal_manager.hpp>
#include <viam/sdk/registry/registry.hpp>
#include <viam/sdk/resource/resource.hpp>
#include <viam/sdk/rpc/server.hpp>
 
namespace viam {
namespace sdk {
 
 
class ModuleService : viam::module::v1::ModuleService::Service {
   public:
    explicit ModuleService(std::string addr);
 
    explicit ModuleService(int argc,
                           char** argv,
                           const std::vector<std::shared_ptr<ModelRegistration>>& registrations);
    ~ModuleService();
 
    void serve();
 
    void add_model_from_registry(API api, Model model);
 
   private:
    ::grpc::Status AddResource(::grpc::ServerContext* context,
                               const ::viam::module::v1::AddResourceRequest* request,
                               ::viam::module::v1::AddResourceResponse* response) override;
 
    ::grpc::Status ReconfigureResource(
        ::grpc::ServerContext* context,
        const ::viam::module::v1::ReconfigureResourceRequest* request,
        ::viam::module::v1::ReconfigureResourceResponse* response) override;
 
    ::grpc::Status RemoveResource(::grpc::ServerContext* context,
                                  const ::viam::module::v1::RemoveResourceRequest* request,
                                  ::viam::module::v1::RemoveResourceResponse* response) override;
 
    ::grpc::Status Ready(::grpc::ServerContext* context,
                         const ::viam::module::v1::ReadyRequest* request,
                         ::viam::module::v1::ReadyResponse* response) override;
 
    ::grpc::Status ValidateConfig(::grpc::ServerContext* context,
                                  const ::viam::module::v1::ValidateConfigRequest* request,
                                  ::viam::module::v1::ValidateConfigResponse* response) override;
 
    void add_model_from_registry_inlock_(API api, Model model, const std::lock_guard<std::mutex>&);
    Dependencies get_dependencies_(google::protobuf::RepeatedPtrField<std::string> const& proto,
                                   std::string const& resource_name);
    std::shared_ptr<Resource> get_parent_resource_(const Name& name);
 
    std::mutex lock_;
    std::unique_ptr<Module> module_;
    std::shared_ptr<RobotClient> parent_;
    std::string parent_addr_;
    std::unique_ptr<Server> server_;
    SignalManager signal_manager_;
};
 
}  // namespace sdk
}  // namespace viam