motion_server.hpp

 
#pragma once
 
#include <memory>
 
#include <viam/api/common/v1/common.grpc.pb.h>
#include <viam/api/service/motion/v1/motion.grpc.pb.h>
 
#include <viam/sdk/resource/resource_manager.hpp>
#include <viam/sdk/resource/resource_server_base.hpp>
#include <viam/sdk/rpc/server.hpp>
#include <viam/sdk/services/motion.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class MotionServer : public ResourceServer,
                     public viam::service::motion::v1::MotionService::Service {
   public:
    using interface_type = Motion;
    using service_type = service::motion::v1::MotionService;
    explicit MotionServer(std::shared_ptr<ResourceManager> manager);
 
    ::grpc::Status Move(::grpc::ServerContext* context,
                        const ::viam::service::motion::v1::MoveRequest* request,
                        ::viam::service::motion::v1::MoveResponse* response) noexcept override;
    ::grpc::Status MoveOnMap(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::MoveOnMapRequest* request,
        ::viam::service::motion::v1::MoveOnMapResponse* response) noexcept override;
    ::grpc::Status MoveOnGlobe(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::MoveOnGlobeRequest* request,
        ::viam::service::motion::v1::MoveOnGlobeResponse* response) noexcept override;
    ::grpc::Status GetPose(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::GetPoseRequest* request,
        ::viam::service::motion::v1::GetPoseResponse* response) noexcept override;
    ::grpc::Status GetPlan(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::GetPlanRequest* request,
        ::viam::service::motion::v1::GetPlanResponse* response) noexcept override;
    ::grpc::Status ListPlanStatuses(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::ListPlanStatusesRequest* request,
        ::viam::service::motion::v1::ListPlanStatusesResponse* response) noexcept override;
    ::grpc::Status StopPlan(
        ::grpc::ServerContext* context,
        const ::viam::service::motion::v1::StopPlanRequest* request,
        ::viam::service::motion::v1::StopPlanResponse* response) noexcept override;
    ::grpc::Status DoCommand(::grpc::ServerContext* context,
                             const ::viam::common::v1::DoCommandRequest* request,
                             ::viam::common::v1::DoCommandResponse* response) noexcept override;
    ::grpc::Status GetStatus(::grpc::ServerContext* context,
                             const ::viam::common::v1::GetStatusRequest* request,
                             ::viam::common::v1::GetStatusResponse* response) noexcept override;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam