service.hpp

 
#pragma once
 
#include <string>
#include <thread>
#include <unordered_map>
 
#include <google/protobuf/struct.pb.h>
#include <grpcpp/support/status.h>
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/robot/v1/robot.grpc.pb.h>
#include <viam/api/robot/v1/robot.pb.h>
 
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/components/component.hpp>
#include <viam/sdk/resource/resource.hpp>
#include <viam/sdk/resource/resource_server_base.hpp>
#include <viam/sdk/robot/client.hpp>
 
namespace viam {
namespace sdk {
 
using google::protobuf::RepeatedPtrField;
using viam::common::v1::ResourceName;
using viam::robot::v1::Status;
 
class RobotService_ : public ResourceServer, public viam::robot::v1::RobotService::Service {
   public:
    explicit RobotService_(const std::shared_ptr<ResourceManager>& manager, Server& server);
    std::shared_ptr<Resource> resource_by_name(const Name& name);
    ::grpc::Status ResourceNames(::grpc::ServerContext* context,
                                 const ::viam::robot::v1::ResourceNamesRequest* request,
                                 ::viam::robot::v1::ResourceNamesResponse* response) override;
    ::grpc::Status GetStatus(::grpc::ServerContext* context,
                             const ::viam::robot::v1::GetStatusRequest* request,
                             ::viam::robot::v1::GetStatusResponse* response) override;
    ::grpc::Status StreamStatus(
        ::grpc::ServerContext* context,
        const ::viam::robot::v1::StreamStatusRequest* request,
        ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer) override;
    ::grpc::Status StopAll(::grpc::ServerContext* context,
                           const ::viam::robot::v1::StopAllRequest* request,
                           ::viam::robot::v1::StopAllResponse* response) override;
 
   private:
    std::mutex lock_;
    std::vector<ResourceName> generate_metadata_();
    std::vector<Status> generate_status_(const RepeatedPtrField<ResourceName>& resource_names);
 
    void stream_status(const ::viam::robot::v1::StreamStatusRequest* request,
                       ::grpc::ServerWriter<::viam::robot::v1::StreamStatusResponse>* writer,
                       int interval);
};
 
}  // namespace sdk
}  // namespace viam